Camera calibration program test method, device and equipment and readable storage medium

Abstract

The embodiment of the invention discloses a camera calibration program testing method and device, equipment and a readable storage medium. The method is applied to system function software of a camera calibration program. The method comprises the following steps: acquiring sensor data from sensor service software; the sensor data is obtained by sensor service software from the simulator; obtaining a vehicle-related signal from the vehicle signal service software; the vehicle-related signals are obtained by the vehicle signal service software from the simulator; obtaining pre-stored camera related data from camera service software; the camera related data is obtained by the camera service software from the production line calibration software; vehicle model parameters and system diagnosis information are obtained from the simulator; and performing camera calibration based on the sensor data, the vehicle related signals, the camera related data, the vehicle model parameters and the system diagnosis information. By applying the scheme provided by the embodiment of the invention, the camera calibration program testing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of software testing technology, and in particular to a camera calibration program testing method, device, equipment and readable storage medium. Background Art

[0002] Typically, one or more cameras are installed in a car to collect images of the vehicle's surroundings for target perception, etc. In addition, each camera needs to be calibrated before use to determine its external parameters, and then corresponding calculations can be performed based on the obtained external parameters. Camera calibration is generally completed on the production line, that is, during the car production process, the calibration process of each camera installed in the car is completed.

[0003] Specifically, camera calibration can be completed by a camera calibration program, and when the camera calibration program is delivered for verification, its functionality needs to be verified to avoid problems being exposed when the camera is calibrated on the production line, which affects the progress of the production line. Known camera calibration program verification methods require data recording on the production line, and then use the recorded data to verify the camera calibration program. This method is completely dependent on the recorded data. When it is necessary to verify the program performance in different scenarios, it is necessary to record the data of the corresponding scenarios. The program verification process is complicated and inefficient. Therefore, how to reduce the complexity of camera calibration program verification and improve verification efficiency has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a camera calibration program testing method, device, equipment and readable storage medium to improve the camera calibration program testing efficiency. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present application provides a camera calibration program testing method, the method is applied to the system function software of the camera calibration program, the camera calibration program at least further includes: sensor service software, vehicle signal service software, camera service software and production line calibration software, the method includes:

[0006] Acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator;

[0007] Acquire a vehicle-related signal from the vehicle signal service software; the vehicle-related signal is acquired by the vehicle signal service software from the simulator;

[0008] Acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software;

[0009] Acquiring vehicle model parameters and system diagnostic information from the simulator;

[0010] The camera is calibrated based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle type parameters and the system diagnostic information.

[0011] In the embodiment of the present application, data related to the camera calibration program test can be obtained based on the simulator. When it is necessary to verify the program performance in different scenarios, only the simulator configuration information needs to be modified. Therefore, the solution has a wide test coverage and strong scalability, which can greatly improve the test efficiency of the camera calibration program. In addition, the simulator is an external device that only needs to communicate data with the camera calibration program itself. The camera calibration program is not modified during the test process. The solution maximizes the integrity and independence of the camera calibration program, thereby improving the accuracy of the program test. In addition, flexible communication can be achieved between the simulator and the camera calibration program, as well as between the multiple software included in the camera calibration program, and multiple modes of communication are supported, thereby improving the feasibility of the camera calibration program test.

[0012] Optionally, the step of performing camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information includes:

[0013] Perform mode switching and determine whether the mode switching is completed;

[0014] When the mode switching is completed, the calibration condition check is performed, and it is determined whether the calibration condition check is completed;

[0015] When the calibration condition check is completed, starting camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information; and determining whether the calibration is completed;

[0016] When the calibration is completed, the camera calibration is finished.

[0017] Optionally, the simulator includes: a system diagnostic device, a sensor device, a vehicle body signal forwarding module, and a vehicle body configuration parameter module;

[0018] The system diagnostic device is used to output the system diagnostic information; the sensor device is used to output the sensor data; the body signal forwarding module is used to output the vehicle-related signal; the body configuration parameter module is used to output the vehicle model parameters.

[0019] Optionally, the vehicle body signal forwarding module runs on the system-on-chip (SOC) side; the system diagnostic device, the sensor device and the vehicle body configuration parameter module run on the microcontroller unit (MCU) side.

[0020] Optionally, the sensor data includes: inertial measurement unit IMU data and global satellite navigation system GNSS status; the vehicle-related signals include: vehicle four doors and two hood status and gear signal status; the camera-related data includes: calibration image and camera internal parameters; the vehicle model parameters include: vehicle model, rearview mirror type and tire type; the system diagnostic information includes: calibration-related instructions and logic checks.

[0021] In a second aspect, an embodiment of the present application provides a camera calibration program testing device, the device is applied to the system function software of the camera calibration program, the camera calibration program at least further includes: sensor service software, vehicle signal service software, camera service software and production line calibration software, the device includes:

[0022] A data acquisition module, used to acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator; acquire vehicle-related signals from the vehicle signal service software; the vehicle-related signals are acquired by the vehicle signal service software from the simulator; acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software; acquire vehicle model parameters and system diagnostic information from the simulator;

[0023] A camera calibration module is used to perform camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information.

[0024] Optionally, the camera calibration module is specifically used to:

[0025] Perform mode switching and determine whether the mode switching is completed;

[0026] When the mode switching is completed, the calibration condition check is performed, and it is determined whether the calibration condition check is completed;

[0027] When the calibration condition check is completed, starting camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information; and determining whether the calibration is completed;

[0028] When the calibration is completed, the camera calibration is finished.

[0029] Optionally, the simulator includes: a system diagnostic device, a sensor device, a vehicle body signal forwarding module, and a vehicle body configuration parameter module;

[0030] The system diagnostic device is used to output the system diagnostic information; the sensor device is used to output the sensor data; the body signal forwarding module is used to output the vehicle-related signal; the body configuration parameter module is used to output the vehicle model parameters.

[0031] Optionally, the vehicle body signal forwarding module runs on the system-on-chip (SOC) side; the system diagnostic device, the sensor device and the vehicle body configuration parameter module run on the microcontroller unit (MCU) side.

[0032] Optionally, the sensor data includes: inertial measurement unit IMU data and global satellite navigation system GNSS status; the vehicle-related signals include: vehicle four doors and two hood status and gear signal status; the camera-related data includes: calibration image and camera internal parameters; the vehicle model parameters include: vehicle model, rearview mirror type and tire type; the system diagnostic information includes: calibration-related instructions and logic checks.

[0033] In a third aspect, an embodiment of the present application provides a computer device, including: a memory and a processor, wherein the memory and the processor are coupled;

[0034] The memory is used to store one or more computer instructions;

[0035] The processor is used to execute the one or more computer instructions to implement the camera calibration program testing method as described in the first aspect.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having one or more computer instructions stored thereon, which are executed by a processor to implement the camera calibration program testing method as described in the first aspect above.

[0037] In a fifth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the camera calibration program testing method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0039] Figure 1 A flowchart of a known camera calibration procedure verification method is shown;

[0040] Figure 2A schematic diagram of a camera calibration program test architecture provided in an embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of the output data types of each part of the simulator in the embodiment of the present application;

[0042] Figure 4 A flowchart of a camera calibration program testing method provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of a camera calibration process provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the structure of a camera calibration program testing device provided in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0048] like Figure 1 As shown, it shows a schematic flow chart of a known camera calibration program verification method. Before program verification, data needs to be recorded on the production line, and then the recorded data is played back to verify the system software. After the result is output, it is analyzed to obtain the verification result. This method is completely dependent on the recorded data. When the program performance of different scenes needs to be verified, the data of the corresponding scenes needs to be recorded. The program verification process is complicated and inefficient.

[0049] The embodiments of the present application disclose a camera calibration program testing method, device, equipment and readable storage medium, which can improve the camera calibration program testing efficiency. The embodiments of the present application are described in detail below.

[0050] In the embodiment of the present application, in order to improve the test efficiency of the camera calibration program and avoid the need to record corresponding data for different scenes, a simulator can be provided, which can output the data required for the camera calibration program test. In other words, the camera calibration program can obtain all the required data from the simulator, and no longer needs to record data in advance.

[0051] Specifically, the simulator can be configured with a configuration file to output the data required for the camera calibration program test. For example, in order to be close to the actual state of the vehicle on the production line, the door can be configured to be closed, the vehicle gear can be configured to be in neutral, and so on.

[0052] In one implementation, Figure 2 As shown, it shows a schematic diagram of the camera calibration program test architecture provided by an embodiment of the present application. The architecture may include a simulator 210 and a camera calibration program 220. The simulator 210 is used to provide data required for the camera calibration program 220 to run. The camera calibration program 220 can run based on the data provided by the simulator 210 to test whether it can run normally and whether it can output the camera calibration result.

[0053] Specifically, the simulator 210 may include: a sensor device, a body signal forwarding module, a body configuration parameter module, and a system diagnostic device. The body signal forwarding module runs on the SOC (System-on-a-Chip) side, and the system diagnostic device, the sensor device, and the body configuration parameter module run on the MCU (Microcontroller Unit) side.

[0054] The simulator 210 may also include a lidar calibration (not shown in the figure) for testing the lidar. Similar to the vehicle body signal forwarding module, the lidar calibration also runs on the SOC side.

[0055] Among them, the output data types of each part of the simulator 210 are as follows Figure 3 As shown, the sensor device is used to periodically output the IMU (Inertial Measurement Unit) and GNSS (Global Navigation Satellite System) status; the body signal forwarding module is used to periodically output the four-door and two-lid (i.e., the vehicle's four doors and the hood and trunk lid) and gear position signal status; the body configuration parameter module is used to periodically output vehicle model parameters, for example, may include: vehicle model, rearview mirror type, tire type, etc.; the system diagnostic equipment is used to output calibration-related instructions and logic checks.

[0056] The camera calibration program 220 may include: system function software, sensor service software, vehicle signal service software, camera service software, after-sales calibration software, and production line calibration software. Among them, the camera calibration program 220 runs on the ipd end (domain control device), the system function software is used for system function processing, the sensor service software provides IMU data, the vehicle signal service software provides body data, the camera service software provides camera services, the after-sales calibration software is used for after-sales calibration, and the production line calibration software is used for production line calibration.

[0057] Figure 4 A flowchart of a camera calibration program testing method provided in an embodiment of the present application is provided. The method can be applied to the system function software of the camera calibration program. The method includes the following steps:

[0058] S110: Acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator.

[0059] S120: Acquire vehicle-related signals from the vehicle signal service software; the vehicle signal is acquired by the vehicle signal service software from the simulator.

[0060] S130: Acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software.

[0061] S140: Obtain vehicle model parameters and system diagnostic information from the simulator.

[0062] In the embodiments of the present application, Figure 2 In the architecture shown, the system function software of the camera calibration program establishes communication connections with the sensor service software, vehicle signal service software, camera service software, and production line calibration software. The sensor service software, vehicle signal service software, camera service software, and production line calibration software can all send data to the system function software.

[0063] When performing camera calibration on the production line, the sensor service software, vehicle signal service software, and camera service software can all obtain relevant data from the vehicle in real time and send it to the system function software, so that the system function software can perform camera calibration based on the acquired data.

[0064] During the bench test, each software cannot obtain real vehicle-related data. In the embodiment of the present application, a connection can be established between each software and a simulator, so that each software can obtain vehicle-related data based on the simulator. Figure 2As shown, the sensor service software, vehicle signal service software, and system function software all establish direct connections with the simulator, so that during the bench test, the sensor service software can obtain sensor data from the simulator and send the obtained sensor data to the system function software; the vehicle signal service software can obtain vehicle-related signals from the simulator and send the obtained vehicle-related signals to the system function software; and the system function software can also directly obtain vehicle model parameters and system diagnostic information from the simulator.

[0065] In one implementation, the simulator 210 may specifically include: a system diagnostic device, a sensor device, a vehicle body signal forwarding module, and a vehicle body configuration parameter module. Among them, the sensor device is connected to the sensor service software, and the vehicle body signal forwarding module is connected to the vehicle signal service software; the vehicle body configuration parameter module and the system diagnostic device are connected to the system function software. Thus, the sensor service software can obtain sensor data from the sensor device and send the obtained sensor data to the system function software; the vehicle signal service software can obtain vehicle-related signals from the vehicle body signal forwarding module and send the obtained vehicle-related signals to the system function software; the system function software can also directly obtain vehicle model parameters from the vehicle body configuration parameter module and obtain system diagnostic information from the system diagnostic device.

[0066] During the camera calibration process, camera-related data is also required, such as the image captured by the camera, which can be called a calibration image, and the camera internal parameters. In the embodiment of the present application, the camera-related data can be collected and stored in advance. During the camera calibration program test, the camera service software can obtain the camera-related data from the production line calibration software and send it to the system function software.

[0067] Among them, the above-mentioned sensor data may include: IMU data and GNSS status; vehicle-related signals may include: the status of the vehicle's four doors and two hoods and the gear signal status; camera-related data may include: calibration images and camera internal parameters; vehicle model parameters may include: vehicle model, rearview mirror type and tire type; system diagnostic information may include: calibration-related instructions and logic checks.

[0068] S150: Perform camera calibration based on sensor data, vehicle-related signals, camera-related data, vehicle model parameters, and system diagnostic information.

[0069] After acquiring the above data, the system function software can perform camera calibration based on the acquired data to test the camera calibration program. For example, the mode switch can be performed first, and it can be determined whether the mode switch is completed; when the mode switch is completed, the calibration condition check is performed, and it can be determined whether the calibration condition check is completed; when the calibration condition check is completed, the camera calibration is started based on the sensor data, vehicle-related signals, camera-related data, vehicle model parameters, and system diagnostic information; and it can be determined whether the calibration is completed; when the calibration is completed, the camera calibration is completed.

[0070] like Figure 5 As shown, it shows a schematic diagram of the camera calibration process of an embodiment of the present application. When starting camera calibration, the mode can be switched to the bench mode. When checking the calibration conditions, the system function software can obtain relevant data from the vehicle signal service software, the camera service software, and the production line calibration software, and perform a calibration condition check. When performing camera calibration, the system function software performs camera calibration based on the data it obtains.

[0071] Among them, in the judgment process of whether the mode switching is completed, whether the calibration condition check is completed, and whether the camera calibration is completed, as long as the judgment is negative, it can be judged that the calibration has failed, an error message is output, and the calibration is completed.

[0072] In the embodiment of the present application, data related to the camera calibration program test can be obtained based on the simulator. When it is necessary to verify the program performance in different scenarios, only the simulator configuration information needs to be modified. Therefore, the solution has a wide test coverage and strong scalability, which can greatly improve the test efficiency of the camera calibration program. In addition, the simulator is an external device that only needs to communicate data with the camera calibration program itself. The camera calibration program is not modified during the test process. The solution maximizes the integrity and independence of the camera calibration program, thereby improving the accuracy of the program test. In addition, flexible communication can be achieved between the simulator and the camera calibration program, as well as between the multiple software included in the camera calibration program, and multiple modes of communication are supported, thereby improving the feasibility of the camera calibration program test.

[0073] like Figure 6 As shown, it shows a schematic diagram of the structure of a camera calibration program test device provided in an embodiment of the present application, the device is applied to the system function software of the camera calibration program, the camera calibration program at least further includes: sensor service software, vehicle signal service software, camera service software and production line calibration software, the device includes:

[0074] The data acquisition module 610 is used to acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator; acquire vehicle-related signals from the vehicle signal service software; the vehicle-related signals are acquired by the vehicle signal service software from the simulator; acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software; acquire vehicle model parameters and system diagnostic information from the simulator;

[0075] The camera calibration module 620 is used to perform camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information.

[0076] Optionally, the camera calibration module 620 is specifically used to:

[0077] Perform mode switching and determine whether the mode switching is completed;

[0078] When the mode switching is completed, the calibration condition check is performed, and it is determined whether the calibration condition check is completed;

[0079] When the calibration condition check is completed, starting camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information; and determining whether the calibration is completed;

[0080] When the calibration is completed, the camera calibration is finished.

[0081] Optionally, the simulator includes: a system diagnostic device, a sensor device, a vehicle body signal forwarding module, and a vehicle body configuration parameter module;

[0082] The system diagnostic device is used to output the system diagnostic information; the sensor device is used to output the sensor data; the body signal forwarding module is used to output the vehicle-related signal; the body configuration parameter module is used to output the vehicle model parameters.

[0083] Optionally, the vehicle body signal forwarding module runs on the system-on-chip (SOC) side; the system diagnostic device, the sensor device and the vehicle body configuration parameter module run on the microcontroller unit (MCU) side.

[0084] Optionally, the sensor data includes: inertial measurement unit IMU data and global satellite navigation system GNSS status; the vehicle-related signals include: vehicle four doors and two hood status and gear signal status; the camera-related data includes: calibration image and camera internal parameters; the vehicle model parameters include: vehicle model, rearview mirror type and tire type; the system diagnostic information includes: calibration-related instructions and logic checks.

[0085] In the embodiment of the present application, data related to the camera calibration program test can be obtained based on the simulator. When it is necessary to verify the program performance in different scenarios, only the simulator configuration information needs to be modified. Therefore, the solution has a wide test coverage and strong scalability, which can greatly improve the test efficiency of the camera calibration program. In addition, the simulator is an external device that only needs to communicate data with the camera calibration program itself. The camera calibration program is not modified during the test process. The solution maximizes the integrity and independence of the camera calibration program, thereby improving the accuracy of the program test. In addition, flexible communication can be achieved between the simulator and the camera calibration program, as well as between the multiple software included in the camera calibration program, and multiple modes of communication are supported, thereby improving the feasibility of the camera calibration program test.

[0086] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here.

[0087] Next, a computer device provided by an embodiment of the present application is introduced. Figure 7 , Figure 7 A schematic diagram of a computer device provided in an embodiment of the present application, the computer device comprising:

[0088] one or more processors 40;

[0089] The processor 40 is coupled to a storage device 41, and the storage device 41 is used to store one or more programs.

[0090] When the one or more programs are executed by the one or more processors 40, the electronic device implements the following Figure 1 to Figure 2 A technical solution for a camera calibration program testing method.

[0091] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following is achieved: Figure 1 to Figure 2 A technical solution for a camera calibration program testing method.

[0092] The present application provides a computer program product, the computer program product comprising a computer program, the computer program when executed by a processor to achieve the following Figure 1 to Figure 2 A technical solution for a camera calibration program testing method.

[0093] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0094] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A camera calibration program testing method, characterized in that: The method is applied to the system function software of the camera calibration program, and the camera calibration program at least includes: sensor service software, vehicle signal service software, camera service software and production line calibration software. The method includes: Acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator; Acquire a vehicle-related signal from the vehicle signal service software; the vehicle-related signal is acquired by the vehicle signal service software from the simulator; Acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software; Acquiring vehicle model parameters and system diagnostic information from the simulator; The camera is calibrated based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle type parameters and the system diagnostic information.

2. The method according to claim 1, characterized in that: The step of performing camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information comprises: Perform mode switching and determine whether the mode switching is completed; When the mode switching is completed, the calibration condition check is performed, and it is determined whether the calibration condition check is completed; When the calibration condition check is completed, starting camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information; and determining whether the calibration is completed; When the calibration is completed, the camera calibration is finished.

3. The method according to claim 1, characterized in that The simulator includes: a system diagnostic device, a sensor device, a vehicle body signal forwarding module and a vehicle body configuration parameter module; The system diagnostic device is used to output the system diagnostic information; the sensor device is used to output the sensor data; the body signal forwarding module is used to output the vehicle-related signal; and the body configuration parameter module is used to output the vehicle model parameters.

4. The method according to claim 3, characterized in that The vehicle body signal forwarding module runs on the system-on-chip (SOC) side; the system diagnostic device, the sensor device and the vehicle body configuration parameter module run on the microcontroller unit (MCU) side.

5. The method according to any one of claims 1 to 4, characterized in that: The sensor data includes: inertial measurement unit IMU data and global satellite navigation system GNSS status; the vehicle-related signals include: vehicle four doors and two hood status and gear signal status; the camera-related data includes: calibration image and camera internal parameters; the vehicle model parameters include: vehicle model, rearview mirror type and tire type; the system diagnostic information includes: calibration-related instructions and logic checks.

6. A camera calibration program testing device, characterized in that: The device is applied to the system function software of the camera calibration program, and the camera calibration program at least includes: sensor service software, vehicle signal service software, camera service software and production line calibration software, and the device includes: A data acquisition module, used to acquire sensor data from the sensor service software; the sensor data is acquired by the sensor service software from the simulator; acquire vehicle-related signals from the vehicle signal service software; the vehicle-related signals are acquired by the vehicle signal service software from the simulator; acquire pre-stored camera-related data from the camera service software; the camera-related data is acquired by the camera service software from the production line calibration software; acquire vehicle model parameters and system diagnostic information from the simulator; A camera calibration module is used to perform camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information.

7. The device according to claim 6, characterized in that The camera calibration module is specifically used for: Perform mode switching and determine whether the mode switching is completed; When the mode switching is completed, the calibration condition check is performed, and it is determined whether the calibration condition check is completed; When the calibration condition check is completed, starting camera calibration based on the sensor data, the vehicle-related signal, the camera-related data, the vehicle model parameters and the system diagnostic information; And determine whether the calibration is completed; When the calibration is completed, the camera calibration is finished.

8. The device according to claim 6, characterized in that The simulator includes: a system diagnostic device, a sensor device, a vehicle body signal forwarding module and a vehicle body configuration parameter module; The system diagnostic device is used to output the system diagnostic information; the sensor device is used to output the sensor data; the body signal forwarding module is used to output the vehicle-related signal; and the body configuration parameter module is used to output the vehicle model parameters.

9. The device according to any one of claim 8, characterized in that The vehicle body signal forwarding module runs on the system-on-chip (SOC) side; the system diagnostic device, the sensor device and the vehicle body configuration parameter module run on the microcontroller unit (MCU) side.

10. The device according to any one of claims 6 to 9, characterized in that: The sensor data includes: inertial measurement unit IMU data and global satellite navigation system GNSS status; the vehicle-related signals include: vehicle four doors and two hood status and gear signal status; the camera-related data includes: calibration image and camera internal parameters; the vehicle model parameters include: vehicle model, rearview mirror type and tire type; the system diagnostic information includes: calibration-related instructions and logic checks.

11. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are coupled; The memory is used to store one or more computer instructions; The processor is used to execute the one or more computer instructions to implement the camera calibration program testing method as described in any one of claims 1 to 5.

12. A readable storage medium having one or more computer instructions stored thereon, characterized in that: The instruction is executed by the processor to implement the camera calibration program testing method as described in any one of claims 1 to 5.

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