Vehicle-mounted camera imaging quality detection method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle-mounted camera imaging quality detection method and device, equipment and a storage medium, and the method comprises the steps: obtaining first color feature information corresponding to continuous M frames of first images, the first images being acquired through a first vehicle-mounted camera according to a preset frame rate in a vehicle driving process; light equipment in the experimental environment is set, a target light parameter corresponding to each piece of first color feature information is obtained, and when the light equipment works at the target light parameter, second color feature information of a second image collected by the first vehicle-mounted camera is the same as the corresponding first color feature information; according to a preset frame rate, light equipment is sequentially controlled to work according to the target light parameters, and continuous M frames of third images are collected through a second vehicle-mounted camera according to the preset frame rate; analyzing the M frames of third images to obtain a quality detection index for detecting the imaging quality of the second vehicle-mounted camera; and the accuracy and comprehensiveness of imaging quality detection can be improved.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a method, device, equipment and storage medium for detecting the imaging quality of a vehicle-mounted camera. Background Art

[0002] The intelligent automobile industry is developing rapidly. Cameras play a huge role in active safety, passive safety, and visual assistance. It is crucial to obtain stable, reliable, and clear surrounding environment data through cameras. Therefore, high requirements are placed on the imaging quality of on-board cameras, and the imaging quality of on-board cameras needs to be tested.

[0003] Traditional camera testing methods rely primarily on objective indicators, which are typically evaluated through static testing in a laboratory environment. However, these environments often fail to replicate the variability of real-world factors, such as light, motion speed, and background interference. Consequently, even cameras that perform well in the laboratory may experience image blur, increased noise, and excessive color deviation in actual use, resulting in low accuracy and limitations. Summary of the Invention

[0004] The embodiments of the present application disclose a method, apparatus, device and storage medium for detecting the imaging quality of a vehicle-mounted camera, which can more comprehensively and accurately evaluate the imaging quality of the camera in a real driving environment.

[0005] In a first aspect, an embodiment of the present application discloses a method for detecting the imaging quality of a vehicle-mounted camera, comprising:

[0006] Obtaining first color feature information corresponding to M consecutive frames of first images, wherein the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer;

[0007] Setting lighting equipment in an experimental environment to obtain target lighting parameters corresponding to each piece of the first color feature information, wherein when the lighting equipment operates at the target lighting parameters, second color feature information of a second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information;

[0008] Controlling the lighting equipment to operate at the target lighting parameters in sequence according to the preset frame rate, and capturing M consecutive frames of third images at the preset frame rate through a second vehicle-mounted camera;

[0009] Analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

[0010] In a second aspect, an embodiment of the present application discloses a device for detecting the imaging quality of a vehicle-mounted camera, comprising:

[0011] An acquisition module, configured to acquire first color feature information corresponding to M consecutive frames of first images, wherein the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer;

[0012] a setting module for setting a lighting device in an experimental environment to obtain target lighting parameters corresponding to each piece of first color feature information, wherein when the lighting device operates at the target lighting parameters, the second color feature information of the second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information;

[0013] a detection module, configured to sequentially control the lighting device to operate at the target lighting parameters according to the preset frame rate, and to capture M consecutive frames of third images at the preset frame rate through a second vehicle-mounted camera;

[0014] The detection module is further used to analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

[0015] In a third aspect, an embodiment of the present application discloses an electronic device, which may include:

[0016] a memory storing executable program code;

[0017] a processor coupled to the memory;

[0018] The processor calls the executable program code stored in the memory to execute a method for detecting the imaging quality of a vehicle-mounted camera disclosed in the first aspect of an embodiment of the present application.

[0019] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute a method for detecting the imaging quality of a vehicle-mounted camera disclosed in the first aspect of the embodiment of the present application.

[0020] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0021] In an embodiment of the present application, first color feature information corresponding to each of M consecutive frames of first images is obtained. The consecutive M frames of first images are acquired by a first onboard camera according to a preset frame rate while the vehicle is driving. Then, the lighting equipment of the experimental environment is set to obtain target lighting parameters corresponding to each piece of first color feature information. The acquisition of the target lighting parameters must satisfy the requirement that, when the lighting equipment operates at the target lighting parameters, the second color feature information of the second image captured by the first onboard camera is the same as the first color feature information. Thereafter, the lighting equipment is sequentially controlled to operate at the target lighting parameters according to the preset frame rate, and M consecutive frames of third images are acquired by the second onboard camera at the preset frame rate. Finally, Analyze the M frames of the third image to obtain a quality detection index, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection index; by implementing the embodiment of the present application, it is possible to obtain M frames of the first image through the first vehicle-mounted camera according to a preset frame rate during driving, obtain color feature information of the first image, and then restore the real driving scene in the experimental environment based on the color feature information to accurately reflect the real driving scene in the experimental environment, and then perform imaging quality detection of the vehicle-mounted camera based on the experimental environment, which provides scientificity and practicality for the detection of the imaging quality of the vehicle-mounted camera in the real driving scene, and restores according to the preset frame rate during restoration, comprehensively feedbacks the dynamic image quality of the driving process, and improves the accuracy and comprehensiveness of the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a flow chart of a method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 1 of the present application;

[0024] Figure 2 This is a flow chart of a method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 2 of this application;

[0025] Figure 3 This is a flow chart of a method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 3 of this application;

[0026] Figure 4 This is a schematic diagram of the application of the preset area division method disclosed in the embodiment of this application;

[0027] Figure 5 A schematic diagram of a curve showing changes in regional brightness values disclosed in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a curve showing changes in regional white balance gain values disclosed in an embodiment of the present application;

[0029] Figure 7 This is a schematic diagram of the structure of the device for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 1 of the present application;

[0030] Figure 8 This is a schematic diagram of the structure of the device for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 2 of the present application;

[0031] Figure 9 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] It should be noted that the terms "first," "second," "third," and "fourth" in the specification and claims of this application are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having," as well as any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0034] It is understandable that the imaging quality of vehicle-mounted cameras is a crucial area in the intelligent automobile industry. The detection of the imaging quality of traditional vehicle-mounted cameras mainly relies on objective indicators, which are usually obtained through static testing in an experimental environment. This detection method has obvious limitations and cannot fully and accurately reflect the imaging conditions of vehicle-mounted cameras during actual driving. Therefore, the embodiments of the present application provide a method, device, equipment and storage medium for detecting the imaging quality of vehicle-mounted cameras, which are used to restore real driving scenes in an experimental environment to accurately reflect real driving scenes in the experimental environment, provide scientific and practical testing for the imaging quality of cameras in real driving scenes, and improve the accuracy and comprehensiveness of the detection.

[0035] See also Figure 1 , Figure 1This is a flow chart of the method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 1 of this application; Figure 1 As shown, the method for detecting the imaging quality of the vehicle-mounted camera may include:

[0036] 101. Obtain first color feature information corresponding to M consecutive frames of first images, where the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer.

[0037] Among them, the executing body of the embodiment of the present application is a detection device or electronic device for the imaging quality of a vehicle-mounted camera. The detection device for the imaging quality of a vehicle-mounted camera can be built into the electronic device, or be independent of the electronic device and be set in an experimental environment.

[0038] While driving in a real scene, a vehicle uses a first onboard camera to capture images at a preset frame rate, obtaining M consecutive first images. The first color feature information is the color feature information of the first images, where M is a positive integer. Each first image obtains a corresponding piece of first color feature information. Therefore, M pieces of first color feature information are obtained and then stored.

[0039] Optionally, the first color feature information includes at least a brightness value and a white balance gain value. The white balance gain value is obtained by a color temperature determination algorithm in an image signal processor (ISP) in the first vehicle-mounted camera, and the white balance gain value includes an r / g value (a gain ratio of red to green) and a b / g value (a gain ratio of blue to green).

[0040] In an embodiment of the present application, image acquisition can be performed for different driving processes and on-board cameras with different functions. Optionally, the driving process can be the process of a vehicle entering or exiting a tunnel, or the process of a vehicle parking in an underground garage, etc. On-board cameras with different functions can be on-board cameras with a driving recorder function, or on-board cameras corresponding to a navigation function under automatic driving. Exemplarily, an embodiment of the present application can be a first image captured by an on-board camera for a driving scene when entering a tunnel and used for a driving recorder function, that is, the on-board camera corresponding to the driving recorder captures the first image when entering the tunnel, thereby completing the detection of the imaging quality of the on-board camera corresponding to the driving recorder function.

[0041] Furthermore, the continuous M frames of first images can be images corresponding to nodes where the ambient brightness and color temperature change significantly during driving. For example, the brightness and color temperature will change significantly before and after the vehicle enters the tunnel. Therefore, the continuous M frames of first images before and after the vehicle enters the tunnel can be collected. It can be understood that the larger the M value, the more first images, and the higher the accuracy of the analysis.

[0042] The preset frame rate can be determined in advance, and the period corresponding to the preset frequency indicates the time interval between the capture of two adjacent frames of the first image. The setting of the preset frame rate can not only ensure that the captured image can accurately reflect the changes in brightness and color temperature in the real scene, but also needs to ensure that the frequency of light changes in the subsequent experimental environment matches the preset frequency as much as possible.

[0043] 102. Set the lighting equipment of the experimental environment to obtain target lighting parameters corresponding to each first color feature information, wherein when the lighting equipment operates at the target lighting parameters, the second color feature information of the second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information.

[0044] After step 101, the first color feature information corresponding to each of the M frames of first images is obtained. In step 102, the lighting equipment in the experimental environment is configured for each piece of first color feature information, and the target lighting parameters corresponding to each piece of first color feature information are obtained. Each piece of first color feature information corresponds to one target lighting parameter, thereby obtaining M first target lighting parameters. When obtaining each target lighting parameter, it is necessary to ensure that, when the lighting equipment uses the target lighting parameter, the second color feature information of the second image captured by the first vehicle-mounted camera is identical to the first color feature information under the light source effect corresponding to the target lighting parameter obtained in the experimental environment, thereby ensuring that the actual scene of the vehicle driving process is reproduced in the experimental environment.

[0045] It should be noted that the experimental environment may include a vehicle (or correspondingly constructed device) used for testing, as well as an on-board camera at a corresponding position on the vehicle, and lighting equipment around the vehicle, etc. The lighting equipment includes multiple lighting modules, etc., which will be introduced in detail later.

[0046] It should also be noted that in step 101 and step 102, the first vehicle-mounted camera is mostly used, that is, the type, style and function are exactly the same, and can be considered to be identical. It is even possible to use the vehicle-mounted camera used during driving and apply it to the experimental environment of step 102 to restore the driving scene, which helps to obtain an experimental environment that is closer to the real scene.

[0047] 103. Control the lighting equipment in sequence to operate with the target lighting parameters according to a preset frame rate, and capture M consecutive frames of third images through the second vehicle-mounted camera at the preset frame rate.

[0048] In combination with the introduction of the preset frequency in step 101, in step 103, the preset frequency is used as the light changing frequency of the lighting device, that is, the switching frequency at which the lighting device switches the target light parameters to operate.

[0049] For example, the preset frequency is F, and the corresponding period is 1 / F. Step 103 may include: when reaching the first period, controlling the lighting equipment to first adopt the first target lighting parameters to work in sequence, and at the same time, the experimental environment obtains the light source effect corresponding to the first target lighting parameters, and obtains a frame of the third image through the second vehicle-mounted camera; when reaching the second period, controlling the lighting equipment to adopt the second target lighting parameters to work, and obtaining a frame of the third image through the second vehicle-mounted camera under the light source effect corresponding to the second target lighting parameters; and so on. When reaching the last period, controlling the lighting equipment to adopt the last target lighting parameters to work, and obtaining the light source effect corresponding to the last target lighting parameters, and obtaining the last frame of the third image through the second vehicle-mounted camera. Thus, a total of M frames of the third image are obtained, that is, the M frames of the third image are also obtained according to the above-mentioned preset frame rate, and image acquisition is performed in the experimental environment after restoring the real scene in full accordance with the frame rate of the acquired images during driving, which can provide real and comprehensive feedback on the dynamic image quality of the second vehicle-mounted camera.

[0050] Preferably, an indicator detection chart is also placed in the experimental environment, and the collected third image includes the indicator detection chart. The imaging quality of the second vehicle-mounted camera can be detected more quickly and readily through the standard indicator detection chart.

[0051] It should be noted that the second vehicle-mounted camera and the first vehicle-mounted camera are cameras with the same function, but they can be cameras of different types and styles. For example, the second vehicle-mounted camera and the first vehicle-mounted camera are both cameras corresponding to the driving recorder function, but the second vehicle-mounted camera and the first vehicle-mounted camera can be different models or styles, or produced by different manufacturers. That is, in the embodiment of the present application, after the driving scene for a vehicle-mounted camera with one function is restored in an experimental environment, the imaging quality of the camera with this function can be subsequently tested based on the experimental environment. If it is necessary to test the imaging quality of a vehicle-mounted camera with another function, such as a vehicle-mounted camera with a reversing function, it is necessary to set up a corresponding experimental environment. Therefore, the imaging quality of vehicle-mounted cameras with different functions can be tested through the embodiment of the present application, and after the driving scene for a vehicle-mounted camera with one function is restored in an experimental environment, the imaging quality of vehicle-mounted cameras with the same function but different types or styles can be tested based on the experimental environment.

[0052] 104. Analyze M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

[0053] Optionally, step 104 may include: inputting the third image into an image quality analysis tool to extract a region of interest in the third image for analysis to obtain a quality detection index; and evaluating the imaging quality of the second vehicle-mounted camera based on the quality detection index.

[0054] In the above embodiment, the image quality analysis tool can be used to quickly analyze and obtain quality detection indicators. The image quality analysis tool can be a detection device for the imaging quality of a vehicle-mounted camera or a module in an electronic device.

[0055] Optionally, different quality detection indicators can be obtained according to the actual effect to be detected. For example, it is necessary to detect the noise condition (clarity) of the imaging quality of the second vehicle-mounted camera, and the quality detection indicator can be the signal-to-noise ratio; it is necessary to detect the color condition of the imaging quality of the second vehicle-mounted camera, and the quality detection indicator can be the color value. For example, contrast, artifacts, etc. can also be detected. Therefore, the quality detection indicators disclosed in the embodiment of the present application may include: signal-to-noise ratio, and / or color value, and / or contrast, etc. Therefore, after the embodiment of the present application obtains the third image based on the experimental environment, it can perform a relatively comprehensive analysis of the imaging quality of the second vehicle-mounted camera based on the third image, without the need for additional experimental acquisition, and with high accuracy.

[0056] Therefore, through the embodiments of the present application, it is possible to detect the imaging quality of vehicle-mounted cameras with different functions, and a vehicle-mounted camera with a certain function can also be tested for different effects at the same time, thereby achieving a more comprehensive imaging quality detection.

[0057] It can be seen that, by implementing the above embodiment, the first color feature information corresponding to each of the consecutive M frames of the first image is obtained. The consecutive M frames of the first image are acquired by the first vehicle-mounted camera according to the preset frame rate while the vehicle is driving. Then, the lighting equipment of the experimental environment is set to obtain the target lighting parameters corresponding to each of the first color feature information. The acquisition of the target lighting parameters needs to satisfy the requirement that when the lighting equipment operates at the target lighting parameters, the second color feature information of the second image captured by the first vehicle-mounted camera is the same as the first color feature information. Thereafter, the lighting equipment is sequentially controlled to operate at the target lighting parameters according to the preset frame rate, and the second vehicle-mounted camera is used to acquire the consecutive M frames of the third image at the preset frame rate. Finally, , analyze the M frames of the third image, obtain the quality detection index, and detect the imaging quality of the second vehicle-mounted camera according to the quality detection index; by implementing the embodiment of the present application, it is possible to obtain M frames of the first image through the first vehicle-mounted camera according to the preset frame rate during driving, obtain color feature information of the first image, and then restore the real driving scene in the experimental environment according to the color feature information, so as to accurately reflect the real driving scene in the experimental environment, and then perform the imaging quality detection of the vehicle-mounted camera based on the experimental environment, which provides scientificity and practicality for the detection of the imaging quality of the vehicle-mounted camera in the real driving scene, and restores it according to the preset frame rate during restoration, comprehensively feedbacks the dynamic image quality of the driving process, and improves the accuracy and comprehensiveness of the detection.

[0058] See also Figure 2 , Figure 2 This is a flow chart of the method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 2 of this application; Figure 2 As shown, the method for detecting the imaging quality of the vehicle-mounted camera may include:

[0059] 201. Obtain first color feature information corresponding to M consecutive frames of first images, where the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, and M is a positive integer.

[0060] Among them, the executing body of the embodiment of the present application is a detection device or electronic device for the imaging quality of a vehicle-mounted camera. The detection device for the imaging quality of a vehicle-mounted camera can be built into the electronic device, or be independent of the electronic device and be set in an experimental environment.

[0061] 202. Based on each piece of first color feature information, set the lighting equipment in turn to obtain current lighting parameters.

[0062] Among them, during driving, the brightness distribution and color temperature of the environment are key factors affecting image quality. Therefore, when restoring the real driving scene in an experimental environment, the lighting equipment needs to be set up to accurately restore the brightness distribution and color temperature of the environment.

[0063] In some feasible implementations, setting the lighting device in step 202 to obtain current lighting parameters includes:

[0064] Adjusting the arrangement of multiple lighting modules included in the lighting equipment, obtaining the current position number of each lighting module, and adjusting each lighting module to obtain the current brightness and current color temperature;

[0065] Obtaining arrangement information of lighting devices according to the current position numbers of all lighting modules;

[0066] The current lighting parameters of the lighting device are obtained by combining the arrangement information, the current brightness and the current color temperature of each lighting module.

[0067] In this embodiment, the lighting device includes a plurality of lighting modules, and one lighting module corresponds to an ID number for identifying different lighting modules. In addition, positions for placing the lighting modules are preset in the experimental environment, and each position is numbered to obtain a corresponding position number. When adjusting the arrangement of the lighting modules, after adjusting each lighting module to the corresponding position, its corresponding current position number is obtained, and it can also be associated with the ID number to clarify the position of each lighting module. Furthermore, each lighting module will be adjusted to obtain the current brightness and current color temperature corresponding to each lighting module. By integrating the current position numbers of all lighting modules, the arrangement information of the lighting device can be obtained, and then combined with the current brightness and current color temperature of each lighting module, the current lighting parameters can be obtained. Therefore, the current lighting parameters include the arrangement information of the lighting device, the current brightness and current color temperature of each lighting module.

[0068] Furthermore, in the above embodiment, all lighting modules can be adjusted. However, it is understood that, for a lighting effect corresponding to a particular frame of the first image, it may not be necessary to adjust all lighting modules to achieve that lighting effect. In other words, not all lighting modules need to be operational. Therefore, for lighting modules that do not need to be operational, their stability and color temperature parameters can be adjusted to a constant indicating that they are not operational, for example, to 0.

[0069] Furthermore, when configuring the lighting modules, the lighting module's attitude angle (including angle and orientation) can also be configured, which can further facilitate adjustment of the distribution of brightness and color temperature in the experimental environment. Therefore, in some embodiments, the current lighting parameters include: lighting device arrangement information, the attitude angle, brightness, and color temperature of each lighting module.

[0070] In some feasible implementations, the operating parameters of the first vehicle-mounted camera can also be obtained during the driving process of the vehicle. The operating parameters include exposure time, system gain, and temperature information during operation, etc. Then, in step 202, the ambient temperature and lighting equipment of the experimental environment are set according to the operating parameters to improve the accuracy of driving scene restoration.

[0071] 203. In the experimental environment, a second image is captured by a first vehicle-mounted camera under current lighting parameters.

[0072] After step 202, a current lighting parameter can be obtained by setting a lighting device in the experimental environment for each piece of first color feature information. Then, in step 203, when the lighting device operates at the current lighting parameter, a light source effect corresponding to the current lighting parameter can be obtained in the experimental environment. Then, under this light source effect, a second image is captured by the first vehicle-mounted camera. The light source effect indicates, for example, brightness distribution and color temperature distribution in the experimental environment.

[0073] 204. When the second color characteristic information of the second image is the same as the corresponding first color characteristic information, the current lighting parameters are determined as the target lighting parameters corresponding to the first color characteristic information to obtain the target lighting parameters corresponding to each first color characteristic information, where the target lighting parameters include arrangement information, brightness information, and color temperature information of the lighting equipment.

[0074] Acquiring the second color characteristic information of the second image may include: inputting the second image into an image quality analysis tool for analysis to obtain the second color characteristic information.

[0075] If the second color characteristic information of the second image is identical to the corresponding first color characteristic information, it indicates that the light source effect of the real scene corresponding to the first color characteristic information has been restored in the experimental environment. The current lighting parameters can be used as the target lighting parameters corresponding to the first color characteristic information, and so on, to obtain the target lighting parameters corresponding to each first color characteristic information. This shows that in the experimental environment, the environmental changes between frames, that is, the changes in the light source effect, can be restored, thus restoring the dynamic scene.

[0076] 205. After placing at least one indicator detection chart at a corresponding position in the experimental environment, control the lighting equipment to work in sequence with target lighting parameters according to a preset frame rate.

[0077] Place the indicator detection chart in the experimental environment, and the placement position is where the second vehicle-mounted camera can capture it.

[0078] 206. When the lighting equipment operates under each target lighting parameter, a frame of the third image is acquired by the second vehicle-mounted camera, thereby obtaining M frames of the third image, the third image including the indicator detection chart, and the second vehicle-mounted camera has the same function as the first vehicle-mounted camera.

[0079] For details about steps 206-207, please refer to step 103.

[0080] 207. Analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

[0081] It can be seen that the implementation of the above embodiment can restore the real scene corresponding to each frame of the first image during driving in an experimental environment. The imaging quality evaluation of the vehicle-mounted camera based on the experimental environment can accurately reflect the imaging of the vehicle-mounted camera during driving, which provides scientificity and practicality for the evaluation of the imaging quality of the vehicle-mounted camera in the real driving scene, and improves the accuracy and comprehensiveness of the evaluation.

[0082] See also Figure 3 , Figure 3 This is a flow chart of the method for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 3 of this application; Figure 3 As shown, the method for detecting the imaging quality of the vehicle-mounted camera may include:

[0083] 301. Obtain all first sub-feature information corresponding to each frame number from a feature information table, where each frame of the first image is divided into at least two first sub-regions according to a preset region division method, each first sub-region corresponds to one first sub-feature information, and the first sub-feature information includes at least a brightness value and a white balance gain value.

[0084] The executing subject of the embodiment of the present application is a device or electronic device for detecting the imaging quality of a vehicle-mounted camera. The device for detecting the imaging quality of a vehicle-mounted camera can be built into the electronic device, or be independent of the electronic device and be set in an experimental environment.

[0085] In an embodiment of the present application, each of the M frames of first images is divided into at least two first sub-regions according to a preset region division method, and the first sub-feature information corresponding to each first sub-region is obtained accordingly. Then, in the feature information table, only the first sub-feature information is associated and saved according to the frame number, and the first image does not need to be saved. Since the memory occupied by the image is usually larger than the memory occupied by the feature information, only the feature information of the image is saved in the embodiment of the present application, which can reduce the storage capacity.

[0086] The preset region division method is obtained based on the basic hardware parameters of the vehicle-mounted camera and with reference to the ISP region division method for automatic exposure, image brightness mapping, etc. in the vehicle-mounted camera. In addition, the preset region division method can also be optimized through the embodiments of the present application.

[0087] Correspondingly, optionally, before step 301, the following is further included:

[0088] During vehicle driving, the first vehicle-mounted camera captures the M consecutive first image frames according to the preset frame rate, each first image corresponding to a frame number; the first image is divided into regions according to a preset region division method to obtain at least two first sub-regions; first sub-feature information corresponding to each first sub-region is obtained, the first sub-feature information including at least a brightness value and a white balance gain value; and the first sub-feature information corresponding to all the first sub-regions of the first image is used as the corresponding first color feature information, associated with the corresponding frame number, and saved in a feature information table.

[0089] During vehicle driving, the first onboard camera captures images at a preset frame rate to obtain M consecutive first image frames. Each first image frame is assigned a frame number in the order of acquisition. For example, if three first image frames are captured in sequence, the corresponding frame numbers may be 1, 2, and 3, respectively, in the order of acquisition. Each captured first image frame is divided according to a preset region division method to obtain at least two first sub-regions. First sub-feature information corresponding to each first sub-region is then obtained. The first sub-feature information corresponding to the at least two first sub-regions is used as first color feature information for the first image frame. The information is then associated with the frame number and saved in a feature information table.

[0090] The first sub-feature information includes at least a brightness value and a white balance gain value. Therefore, the first color feature information includes brightness values and white balance gain values corresponding to at least two first sub-regions.

[0091] It can be seen that in the embodiment of the present application, by extracting feature information and associating it with the frame number and saving it in the feature information table during the driving process, there is no need to save the first image, thereby achieving lightweight information storage, reducing costs, and improving system performance. It is also possible to seamlessly embed the feature information table into other driving tests.

[0092] For example, see Figure 4 , Figure 4 This is a schematic diagram of the application of the preset area division method disclosed in the embodiment of this application; Figure 4 Only three different ways of partitioning are shown, Figure 4 The left diagram in the figure shows the division into two equal upper and lower sub-areas. Figure 4 The middle diagram shows a way of dividing the area into 4 sub-areas. Figure 4 The diagram on the right is a division method in which the area is first divided into two equal sub-areas, and then the upper sub-area is divided into two equal sub-areas to obtain three sub-areas.

[0093] For example, see Figure 5 , Figure 5 Schematic diagram of the curve showing the change of regional brightness value disclosed in the embodiment of the present application; for the first image of consecutive M frames, according to Figure 4 The division method of the left schematic diagram divides each frame of the first image into two equal first sub-regions. After obtaining the brightness value of each first sub-region, the brightness value change curve of the M-frame first image is as follows: Figure 5 As shown, in Figure 5 In the example, the horizontal coordinate is the frame number (i.e., M=97, the frame numbers are 1, 2, 3…95, 96, 97), and the vertical coordinate is the brightness value (unit: cd / m 2 ), 51 is a curve diagram showing the change of brightness values corresponding to the first sub-region above, and 52 is a curve diagram showing the change of brightness values corresponding to the first sub-region below.

[0094] For example, see Figure 6 , Figure 6 Schematic diagram of the change curve of the regional white balance gain value disclosed in the embodiment of this application; Figure 5 Similarly, for the first image of consecutive M frames, according to Figure 4 The division method shown in the diagram on the left divides each frame of the first image into two equal first sub-areas. The white balance gain value of each first sub-area is obtained through the color temperature determination algorithm in the ISP of the camera. The white balance gain value includes two values: r / g and b / g. The change curve of the white balance gain value of the first image of M frames is as follows: Figure 6As shown, the horizontal coordinate is the frame number (i.e., M=97, the frame numbers are 1, 2, 3…95, 96, 97 respectively), the vertical coordinate is the white balance gain value, 61 is the change curve of the r / g value corresponding to the first sub-area above, 62 is the change curve of the r / g value corresponding to the first sub-area below, 63 is the change curve of the b / g value corresponding to the first sub-area above, and 64 is the change curve of the b / g value corresponding to the first sub-area below.

[0095] For example, as shown in Table 1, Figure 5 and Figure 6 , select 3 first images from the M frames, the corresponding frame numbers are S1, S2 and S3, according to Figure 4 The left schematic diagram is divided into two upper and lower first sub-regions, and then the feature information table shown in Table 1 is obtained.

[0096] Table 1

[0097]

[0098] Among them, y_up is the brightness value of the first sub-region above, y_down is the brightness value of the first sub-region below, r / g_up is the r / g value in the first sub-region above, r / g_down is the r / g value in the first sub-region below, b / g_up is the b / g value in the first sub-region above, and b / g_down is the b / g value in the first sub-region below.

[0099] 302. Based on each piece of first color feature information, set the lighting equipment in turn to obtain current lighting parameters.

[0100] 303. In the experimental environment, capture a second image using a first vehicle-mounted camera under the current lighting parameters.

[0101] 304. Divide the second image into regions according to a preset region division method to obtain at least two second sub-regions.

[0102] 305. Obtain second sub-feature information corresponding to each second sub-region.

[0103] 306. When each second sub-feature information is identical to the first sub-feature information of the corresponding area, determine the current lighting parameter as the target lighting parameter corresponding to the first color feature information.

[0104] The second image is also divided according to the preset area division method, and the number of second sub-areas obtained is the same as the number of first sub-areas obtained by dividing the first image. When setting the lighting equipment, when all the second sub-feature information in the second sub-area is respectively the same as the corresponding first sub-feature information, the current lighting parameters are determined to be the target lighting parameters.

[0105] For example, as per Figure 4 The division method shown in the diagram on the left divides the first image and the second image. The first image obtains two upper and lower first sub-regions, with the upper first sub-region being denoted as F11 and the lower first sub-region being denoted as F12. The second image obtains two upper and lower second sub-regions, with the upper second sub-region being denoted as F21 and the lower second sub-region being denoted as F22. Then, the first sub-feature information of F11 is the same as the second sub-feature information of F21, and the first sub-feature information of F12 is the same as the second sub-feature information of F22. The current lighting parameters are used as the target lighting parameters.

[0106] It should also be noted that, as shown in Table 1 above, after restoration of the three first images S1, S2, and S3, the corresponding second images Y1, Y2, and Y3 are obtained respectively. After region division of the second images Y1, Y2, and Y3, the second sub-feature information obtained is also shown in Table 1, achieving complete restoration.

[0107] 307. After placing the indicator detection chart at the corresponding position in the experimental environment, control the lighting equipment according to the preset frame rate to work in sequence with the target lighting parameters.

[0108] Among them, the indicator detection picture card is placed at the corresponding position. The indicator detection picture card can be one or more. In the embodiment of the present application, the indicator detection picture card is placed at the corresponding position according to the preset area division method, so that after the obtained image is divided according to the preset area division method, each sub-area corresponds to an indicator detection picture card.

[0109] Optionally, when placing the indicator detection chart, the light sources of two or more lighting modules may illuminate one indicator detection chart, or the light source of one lighting module may illuminate one indicator detection chart.

[0110] 308. When the lighting equipment operates under each target lighting parameter, a frame of the third image is acquired by capturing through the second vehicle-mounted camera, thereby obtaining M frames of the third image, wherein the third image includes an indicator detection chart card, wherein when the third image is divided into at least two third sub-areas according to a preset area division method, each third sub-area includes an indicator detection chart card.

[0111] In this embodiment of the present application, more than two indicator detection charts are used to determine that the third sub-area includes one indicator detection chart.

[0112] The second vehicle-mounted camera has the same function as the first vehicle-mounted camera. For example, the second vehicle-mounted camera and the first vehicle-mounted camera both have the function of a driving recorder.

[0113] 309 : Divide each frame of the third image into regions according to a preset region division method to obtain corresponding at least two third sub-regions.

[0114] 310. Analyze the indicator detection chart contained in each third sub-region to obtain corresponding quality detection indicators.

[0115] For example, three frames of third images (respectively Figure 1 , Figure 2 and Figure 3 ) as an example, the quality detection indicator obtained is the signal-to-noise ratio (SNR), in dB, which are the signal-to-noise ratios corresponding to the RGB channels, as shown in Table 2 below:

[0116] Table 2

[0117] R-SNR G-SNR B-SNR Figure 1 41.53 43.06 39.05 Figure 2 43.02 42.16 39.97 Figure 3 47.5 46.22 46.54

[0118] Among them, R-SNR is the signal-to-noise ratio of the R channel, G-SNR is the signal-to-noise ratio of the G channel, and B-SNR is the signal-to-noise ratio of the B channel.

[0119] Optionally, steps 309 and 310 can be combined with an image quality analysis tool to obtain quality detection indicators, that is, the third image is input into the image quality analysis tool, and region division and analysis are completed in the image quality analysis tool to obtain quality detection indicators corresponding to each third sub-region.

[0120] 311. According to the quality inspection indicators, inspect the imaging quality of the second vehicle-mounted camera.

[0121] Optionally, step 311 may include: detecting the imaging quality of the second vehicle-mounted camera based on all quality detection indicators of the third image of each frame; or, analyzing the change in environmental information between adjacent frames based on all quality detection indicators of the third image of M frames, and detecting the imaging quality of the second vehicle-mounted camera based on the change in environmental information.

[0122] Among them, the quality detection indicators of a certain frame can be analyzed separately, or the quality detection indicators corresponding to the third image of the M frame can be analyzed to obtain the change in environmental information between adjacent frames. The change in environmental information includes the change in light source effect. Since the third image is also collected according to the preset frame rate, it can dynamically reflect the image quality changes between frames and can accurately detect the imaging quality of the second vehicle-mounted camera.

[0123] By implementing the embodiments of the present application, a first image can be acquired through a first vehicle-mounted camera during driving, and color feature information of the first image can be obtained. Then, the real driving scene can be restored in an experimental environment based on the color feature information. Moreover, since the restoration is performed completely in accordance with the preset frame rate, the changes in the ambient light source between frames in the real scene can be dynamically restored in the experimental environment, so as to accurately reflect the real driving scene in the experimental environment. Then, the imaging quality of the vehicle-mounted camera is evaluated based on such an experimental environment, which provides scientificity and practicality for the evaluation of the imaging quality of the vehicle-mounted camera in the real driving scene, and improves the accuracy and comprehensiveness of the evaluation.

[0124] Furthermore, it is possible to accurately restore key factors affecting image quality such as brightness distribution and color temperature in real scenes in an experimental environment, thereby improving the accuracy of imaging quality detection of vehicle-mounted cameras.

[0125] See also Figure 7 , Figure 7 Schematic diagram of the structure of the detection device for the imaging quality of the vehicle-mounted camera disclosed in the first embodiment of the present application; Figure 7 As shown, the device for detecting the imaging quality of the vehicle-mounted camera may include:

[0126] An acquisition module 701 is configured to acquire first color feature information corresponding to M consecutive frames of first images, wherein the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer;

[0127] A setting module 702 is configured to set the lighting equipment in the experimental environment and obtain target lighting parameters corresponding to each piece of the first color feature information, wherein when the lighting equipment operates at the target lighting parameters, the second color feature information of the second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information;

[0128] The detection module 703 is configured to sequentially control the lighting device to operate at the target lighting parameters according to the preset frame rate, and to capture M consecutive third images at the preset frame rate through the second vehicle-mounted camera;

[0129] The detection module 703 is further configured to analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

[0130] In some feasible implementations, the setting module 702 is used to set the lighting equipment in the experimental environment, and the method of obtaining the target lighting parameters corresponding to each of the first color feature information is specifically as follows:

[0131] Setting the lighting device in turn based on each of the first color feature information to obtain current lighting parameters;

[0132] In the experimental environment, collecting a second image under the current lighting parameters by using the first vehicle-mounted camera;

[0133] When the second color characteristic information of the second image is the same as the corresponding first color characteristic information, the current lighting parameters are determined as the target lighting parameters corresponding to the first color characteristic information to obtain the target lighting parameters corresponding to each first color characteristic information, where the target lighting parameters include arrangement information, brightness information and color temperature information of the lighting equipment.

[0134] Further optionally, the setting module 702 is used to set the lighting device, and the current lighting parameters are obtained in the following manner:

[0135] Adjusting the arrangement of the plurality of light modules included in the light device to obtain the current position number of each light module, and adjusting each light module to obtain the current brightness and current color temperature;

[0136] Obtaining arrangement information of the lighting devices according to the current position numbers of all the lighting modules;

[0137] The current lighting parameters of the lighting device are obtained by combining the arrangement information, the current brightness and the current color temperature of each lighting module.

[0138] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of the device for detecting the imaging quality of a vehicle-mounted camera disclosed in Example 2 of the present application; Figure 8 The device for detecting the imaging quality of the vehicle-mounted camera shown is Figure 7 The device shown in the figure is optimized based on the Figure 8 The device shown further includes: a driving data collection module 801.

[0139] The driving acquisition module 801 is configured to acquire, during driving of the vehicle, the M consecutive frames of first images through the first on-board camera according to the preset frame rate, each frame of the first image corresponding to a frame number; divide the first image into regions according to a preset region division method to obtain at least two first sub-regions; obtain first sub-feature information corresponding to each first sub-region, the first sub-feature information including at least a brightness value and a white balance gain value; and store the first sub-feature information corresponding to all the first sub-regions of the first image as the corresponding first color feature information, in association with the corresponding frame number, in a feature information table.

[0140] Correspondingly, the acquisition module 701 is configured to acquire the first color feature information corresponding to the M consecutive frames of the first image by acquiring all the first sub-feature information corresponding to each frame number from the feature information table.

[0141] Further optionally, the setting module 702 is further configured to divide the second image into regions according to the preset region division method to obtain at least two second sub-regions; and obtain second sub-feature information corresponding to each second sub-region.

[0142] Correspondingly, the setting module 702 is configured to determine the current lighting parameter as the target lighting parameter corresponding to the first color characteristic information when the second color characteristic information of the second image is the same as the corresponding first color characteristic information by:

[0143] When each of the second sub-feature information is identical to the first sub-feature information of the corresponding area, the current lighting parameter is determined as the target lighting parameter corresponding to the first color feature information.

[0144] Further optionally, the detection module 703 is configured to sequentially control the lighting device to operate with the target lighting parameters according to the preset frame rate, and to capture M consecutive frames of the third image at the preset frame rate through the second vehicle-mounted camera in a manner specifically as follows:

[0145] After placing at least one indicator detection chart at a corresponding position in the experimental environment, controlling the lighting equipment to operate in sequence with the target lighting parameters according to the preset frame rate;

[0146] When the lighting equipment operates under each of the target lighting parameters, one frame of the third image is acquired by capturing the second vehicle-mounted camera, thereby obtaining M frames of the third image, wherein the third image includes the indicator detection chart card, and the second vehicle-mounted camera has the same function as the first vehicle-mounted camera.

[0147] Optionally, when the number of the indicator detection chart cards is 2 or more, when the third image is divided into at least 2 third sub-areas according to the preset area division method, each of the third sub-areas contains one of the indicator detection chart cards.

[0148] Further optionally, the detection module 703 is configured to analyze the M frames of third images to obtain a quality detection index, and detect the imaging quality of the second vehicle-mounted camera according to the quality detection index in the following manner:

[0149] Dividing each frame of the third image into regions according to the preset region division method to obtain the corresponding at least two third sub-regions;

[0150] Analyzing the indicator detection chart contained in each of the third sub-regions to obtain corresponding quality detection indicators;

[0151] According to all the quality detection indicators of the third image of each frame, the imaging quality of the second vehicle-mounted camera is detected; or, according to all the quality detection indicators of the third image of the M frames, the change in environmental information between adjacent frames is analyzed, and the imaging quality of the second vehicle-mounted camera is detected based on the change in environmental information.

[0152] In some feasible implementations, the driving acquisition module 801 is further used to obtain the operating parameters of the first vehicle-mounted camera during driving of the vehicle, and the operating parameters include exposure time, system gain, and temperature information during operation.

[0153] Correspondingly, the above-mentioned setting module 702 is used to set the lighting equipment of the experimental environment, and the method for obtaining the target lighting parameters corresponding to each of the first color characteristic information is specifically: according to the working parameters, the ambient temperature and lighting equipment of the experimental environment are set to obtain the target lighting parameters corresponding to each of the first color characteristic information.

[0154] See also Figure 9 , Figure 9 A schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application; Figure 9 The electronic devices shown may include:

[0155] A memory 901 storing executable program code;

[0156] a processor 902 coupled to the memory 901;

[0157] The processor 902 calls the executable program code stored in the memory 901 and executes Figure 1-Figure 3 Partial steps of any method.

[0158] The present application also discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute Figures 1 to 3 Public methods.

[0159] The present application also discloses a computer program product, which, when executed on a computer, enables the computer to execute Figures 1 to 3 Part or all of the steps of any disclosed method.

[0160] The embodiment of the present application further discloses an application publishing platform, which is used to publish a computer program product, wherein when the computer program product is run on a computer, the computer executes Figures 1 to 3 Part or all of the steps of any disclosed method.

[0161] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0162] The above is a detailed introduction to the detection method, device, equipment and storage medium for the imaging quality of a vehicle-mounted camera disclosed in the embodiment of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for detecting the imaging quality of a vehicle-mounted camera, characterized in that: include: Obtaining first color feature information corresponding to M consecutive frames of first images, wherein the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer; Setting lighting equipment in an experimental environment to obtain target lighting parameters corresponding to each piece of the first color feature information, wherein when the lighting equipment operates at the target lighting parameters, second color feature information of a second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information; Controlling the lighting equipment to operate at the target lighting parameters in sequence according to the preset frame rate, and capturing M consecutive frames of third images at the preset frame rate through a second vehicle-mounted camera; Analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

2. The method according to claim 1, characterized in that The step of setting the lighting equipment in the experimental environment to obtain target lighting parameters corresponding to each of the first color feature information includes: Setting the lighting device in turn based on each of the first color feature information to obtain current lighting parameters; In the experimental environment, collecting a second image under the current lighting parameters by using the first vehicle-mounted camera; When the second color characteristic information of the second image is the same as the corresponding first color characteristic information, the current lighting parameters are determined as the target lighting parameters corresponding to the first color characteristic information to obtain the target lighting parameters corresponding to each first color characteristic information, where the target lighting parameters include arrangement information, brightness information and color temperature information of the lighting equipment.

3. The method according to claim 2, characterized in that The step of setting the lighting device to obtain current lighting parameters includes: Adjusting the arrangement of the plurality of light modules included in the light device to obtain the current position number of each light module, and adjusting each light module to obtain the current brightness and current color temperature; Obtaining arrangement information of the lighting devices according to the current position numbers of all the lighting modules; The current lighting parameters of the lighting device are obtained by combining the arrangement information, the current brightness and the current color temperature of each lighting module.

4. The method according to claim 2, characterized in that Before obtaining the first color feature information corresponding to the consecutive M frames of first images, the method further includes: During the driving process of the vehicle, the first vehicle-mounted camera collects the M consecutive first images according to the preset frame rate, each first image corresponding to a frame number; Divide the first image into regions according to a preset region division method to obtain at least two first sub-regions; Acquire first sub-feature information corresponding to each first sub-region, where the first sub-feature information includes at least a brightness value and a white balance gain value; taking the first sub-feature information corresponding to all the first sub-regions of the first image as the corresponding first color feature information, and associating the first sub-feature information with the corresponding frame number and saving the information in a feature information table; The obtaining of first color feature information corresponding to each of the consecutive M frames of first images includes: All the first sub-feature information corresponding to each of the frame numbers is obtained from the feature information table.

5. The method according to claim 4, characterized in that When the second color characteristic information of the second image is identical to the corresponding first color characteristic information, before determining the current lighting parameter as the target lighting parameter corresponding to the first color characteristic information, the method further includes: Dividing the second image into regions according to the preset region division method to obtain at least two second sub-regions; Acquire second sub-feature information corresponding to each of the second sub-regions; When the second color characteristic information of the second image is identical to the corresponding first color characteristic information, determining the current lighting parameter as the target lighting parameter corresponding to the first color characteristic information includes: When each of the second sub-feature information is identical to the first sub-feature information of the corresponding area, the current lighting parameter is determined as the target lighting parameter corresponding to the first color feature information.

6. The method according to claim 4, characterized in that The step of sequentially controlling the lighting equipment to operate with the target lighting parameters according to the preset frame rate, and capturing M consecutive frames of third images according to the preset frame rate through the second vehicle-mounted camera, includes: After placing at least one indicator detection chart at a corresponding position in the experimental environment, controlling the lighting equipment to operate in sequence with the target lighting parameters according to the preset frame rate; When the lighting equipment operates under each of the target lighting parameters, one frame of the third image is acquired by capturing the second vehicle-mounted camera, thereby obtaining M frames of the third image, wherein the third image includes the indicator detection chart card, and the second vehicle-mounted camera has the same function as the first vehicle-mounted camera.

7. The method according to claim 6, characterized in that When the number of the indicator detection chart cards is 2 or more, when the third image is divided into at least 2 third sub-areas according to the preset area division method, each of the third sub-areas contains one of the indicator detection chart cards.

8. The method according to claim 7, characterized in that The analyzing the M frames of third images to obtain a quality detection index, and detecting the imaging quality of the second vehicle-mounted camera according to the quality detection index, includes: Dividing each frame of the third image into regions according to the preset region division method to obtain the corresponding at least two third sub-regions; Analyzing the indicator detection chart contained in each of the third sub-regions to obtain corresponding quality detection indicators; According to all the quality detection indicators of the third image of each frame, the imaging quality of the second vehicle-mounted camera is detected; or, according to all the quality detection indicators of the third image of the M frames, the change in environmental information between adjacent frames is analyzed, and the imaging quality of the second vehicle-mounted camera is detected based on the change in environmental information.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: During the driving process of the vehicle, the operating parameters of the first vehicle-mounted camera are obtained, wherein the operating parameters include exposure time, system gain, and temperature information during operation; The step of setting the lighting equipment in the experimental environment to obtain target lighting parameters corresponding to each of the first color feature information includes: According to the working parameters, the ambient temperature and lighting equipment of the experimental environment are set to obtain the target lighting parameters corresponding to each of the first color feature information.

10. A device for detecting the imaging quality of a vehicle-mounted camera, characterized in that: include: An acquisition module, configured to acquire first color feature information corresponding to M consecutive frames of first images, wherein the M consecutive frames of first images are acquired by a first vehicle-mounted camera according to a preset frame rate while the vehicle is driving, where M is a positive integer; a setting module for setting a lighting device in an experimental environment to obtain target lighting parameters corresponding to each piece of first color feature information, wherein when the lighting device operates at the target lighting parameters, the second color feature information of the second image captured by the first vehicle-mounted camera is the same as the corresponding first color feature information; a detection module, configured to sequentially control the lighting device to operate at the target lighting parameters according to the preset frame rate, and to capture M consecutive frames of third images at the preset frame rate through a second vehicle-mounted camera; The detection module is further used to analyze the M frames of third images to obtain quality detection indicators, and detect the imaging quality of the second vehicle-mounted camera based on the quality detection indicators.

11. An electronic device, characterized in that: include: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the method for detecting the imaging quality of a vehicle-mounted camera as described in any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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