Performance evaluation method, test system and related device

Abstract

A performance evaluation method, a test system and a related device are applied to the technical field of test. And the performance evaluation device obtains the image from the light sensor, and obtains performance evaluation data of the light sensor arranged on the inner side of the glass plate and / or related components of the light sensor based on the image from the light sensor. Wherein the image output by the light sensor is sensed under the condition that the light sensor is arranged on the inner side of the glass plate, and the real working scene of the light sensor is simulated. Therefore, the performance of the light sensor and / or related components thereof is evaluated automatically and quantitatively by using the image output by the light sensor, and the accuracy and practicability of the test result are higher.

Description

Technical Field

[0001] The present application is applied to the field of testing technology, and in particular relates to a performance evaluation method, a testing system, and related devices. Background Art

[0002] With the advancement of sensing technology, optical sensors are increasingly being integrated into devices. To protect these sensors from dust, heat, and physical impact, they are increasingly being installed internally, allowing them to sense the external environment through the device's glass casing. As the reliability and accuracy requirements for optical sensors in these devices become increasingly stringent, evaluating the optical performance of these sensors is a hot topic among those skilled in the art. Summary of the Invention

[0003] The present application provides a performance evaluation method, a test system and related devices, which can use a light sensor set on the inside of the glass to sense a test pattern on the outside of the glass plate to obtain an image, and obtain quantitative evaluation data of the optical performance of the light sensor by recognizing the image.

[0004] In the first aspect, the present application provides a performance evaluation method. The method can be performed by a performance evaluation device, which can be an independent device with computing capabilities (referred to as a computing device), or a software and / or hardware module within a computing device. It should be understood that the performance evaluation device here is the name of an exemplary execution entity, and the naming of the module performing the evaluation process may be different in different scenarios, for example, it can be called a computer, a host, or a data processing module.

[0005] The performance evaluation method includes: a performance evaluation device acquiring at least one output image from a light sensor and generating performance evaluation data based on the at least one output image. The at least one output image is obtained by the light sensor through a glass sheet and includes an image of at least one test pattern. The performance evaluation data indicates imaging performance of the light sensor when sensing an environment through the glass sheet.

[0006] When the light sensor perceives the environment through the glass plate, the glass plate will introduce new optical performance degradation. For example, the light transmittance and reflected glare of the glass plate will cause the optical performance of the light sensor to deteriorate.

[0007] In the above-described embodiment, the performance evaluation device analyzes imaging performance using images captured by the optical sensor through the glass sheet. This simulates the actual operating scenario of the optical sensor and accurately analyzes the imaging performance of the optical sensor when sensing the environment through the glass sheet, ensuring that the evaluation results are consistent with actual application scenarios. Furthermore, the images captured by the optical sensor include a specified test pattern. The performance evaluation device uses the image containing the test pattern to generate performance evaluation data, enabling accurate and quantitative evaluation of the optical sensor's performance under the influence of the glass sheet, with high test accuracy and repeatability.

[0008] The above-mentioned embodiment improves the accuracy and practicality of the test results by simulating real scenes, automating analysis and quantitative evaluation, and helps to optimize the performance of the light sensor disposed in the glass plate.

[0009] In some scenarios, the test results can reveal how to optimize the performance of the glass sheet. For example, these test results can be used to adjust the coating area or optimize the shape of the heating wire. In other scenarios, these evaluation results can be used to adjust the installation position or posture of the optical sensor. In still other scenarios, these evaluation data can also be used to design compensation algorithms for the optical sensor.

[0010] In one possible implementation of the first aspect, at least one output image includes a first image, which includes an image of a first test pattern among at least one test pattern. The performance evaluation device obtains first performance evaluation data based on the at least one output image, including the following operations: the performance evaluation device determines a value of at least one performance indicator of the light sensor based on intensity information of a first pixel region in the first image. The first pixel region includes at least a portion of the image of the first test pattern.

[0011] The first pixel region includes a plurality of pixels that are continuous at the display position, such as a row of pixels, a column of pixels, or multiple rows and columns of pixels. The pixel intensity information includes information describing the brightness of the pixel point, or information describing the brightness of a color channel.

[0012] In the above-described embodiment, the intensity information of the pixel region reflects the imaging condition through data. This intensity information of the pixel region in the image can be used to quantitatively evaluate the optical performance of the optical sensor. The performance evaluation device analyzes the output image and obtains the result as a performance indicator. This allows the optical performance to be converted into a visual numerical value with high accuracy and practicality, providing strong data support for subsequent optical sensor performance optimization.

[0013] In yet another possible implementation of the first aspect, the performance evaluation data includes a value of at least one performance indicator of the light sensor.

[0014] In the above embodiment, the performance evaluation data includes performance indicators for image granularity, which facilitates locating localized optical performance anomalies caused by the glass sheet. For example, if the test pattern falls on the upper left corner of the optical sensor, the optical performance of the optical sensor within this position range can be accurately analyzed. Furthermore, including performance indicators for image granularity in the performance evaluation data also helps to monitor the uniformity of the optical sensor, facilitating the identification of consistency issues within the optical sensor.

[0015] In another possible implementation of the first aspect, the performance evaluation device obtains performance evaluation data based on at least one performance indicator of the optical sensor. In the above implementation, the performance evaluation device processes the performance indicator based on image granularity to obtain an overall test result. The overall test result can summarize and conclude the performance of the optical sensor, facilitate determination of its degree of compliance, and facilitate user review.

[0016] In another possible implementation of the first aspect, the at least one performance indicator includes at least one of a first performance indicator, a second performance indicator, or a modulation transfer function (MTF) indicator. The first performance indicator indicates a degree of diffraction ghosting of the optical sensor, the second performance indicator indicates a degree of secondary image shift in at least one direction of the optical sensor, and the MTF indicates a resolving power of the optical sensor.

[0017] In another possible implementation of the first aspect, a performance evaluation device determines a value of at least one performance indicator of a light sensor based on intensity information of a first pixel region in a first image, including the following operations: the performance evaluation device obtains the value of the first performance indicator based on the width of an intensity transition region in the first pixel region along at least one direction. The first performance indicator indicates the degree of diffraction ghosting of the light sensor. The intensity transition region is a region where pixel intensity exhibits a transitional change along at least one direction.

[0018] In the above embodiment, the performance evaluation device can locate the diffusion distance of the diffraction ghost by using the intensity change of the first pixel area, and quantify the degree of diffraction ghosting of the light sensor based on the size of the diffusion distance, thereby improving the accuracy and usability of the test results.

[0019] Exemplarily, the value of the first performance indicator is the angular span of the intensity transition region along at least one direction. Alternatively, the value of the first performance indicator is the distance of the intensity transition region along at least one direction. The value of the first performance indicator is one of at least two diffraction ghosting levels.

[0020] In yet another possible implementation of the first aspect, intensity information of the first pixel region is used to indicate a primary image position and a secondary image position.

[0021] In another possible implementation of the first aspect, the performance evaluation device determines the value of at least one performance indicator of the light sensor based on intensity information of the first pixel area in the first image, including: the performance evaluation device obtains the value of a second performance indicator based on the intensity information of the first pixel area, the second performance indicator is used to indicate the degree of secondary image offset of the light sensor in at least one direction, and the value of the second performance indicator is related to the offset of the secondary image position relative to the primary image position.

[0022] When a glass plate is installed, light may be unexpectedly reflected, scattered, and refracted on the plate, resulting in blurred, offset, and duplicated images around the primary image. These images are known as secondary images, or ghost images. The positions of the secondary and primary images can be reflected in the pixel intensity distribution. In the above embodiment, the performance evaluation device can use the intensity information of the pixel region to analyze the offset of the secondary image relative to the primary image, thereby quantitatively evaluating the degradation of the imaging performance caused by the glass plate.

[0023] Exemplarily, the value of the second performance indicator is an offset angle of the secondary image relative to the primary image in the field of view of the optical sensor. Furthermore, the value of the second performance indicator is an offset distance of the secondary image relative to the primary image. Furthermore, the value of the second performance indicator is one of at least two secondary image offset levels.

[0024] In another possible implementation of the first aspect, the at least one direction includes one or more of a row direction, a column direction, or an oblique direction of the first image, wherein the oblique direction is different from both the row direction and the column direction.

[0025] In this way, the performance evaluation device can analyze imaging performance from one or more directional dimensions to adapt to different scenario requirements. For example, in some vehicle imaging scenarios, analyzing imaging performance in the lateral direction is more valuable. In this case, the degree of diffraction ghosting and / or the degree of secondary image shift can be analyzed in the horizontal direction. For another example, in the application of smart driving cameras, to ensure image clarity, the degree of diffraction ghosting and / or the degree of secondary image shift can be analyzed in both the lateral and longitudinal directions.

[0026] In another possible implementation of the first aspect, the at least one test pattern includes an MTF test pattern, the at least one output image includes a second image, and the second image includes an image of the MTF test pattern. The performance evaluation device obtains performance evaluation data based on the at least one output image, including obtaining an MTF indicator value based on the second image.

[0027] In the above embodiment, the performance evaluation device analyzes the second image sensed by the light sensor through the glass, calculates the MTF index, quantifies the resolution under the influence of the glass plate, and can accurately evaluate the influence of the glass plate on the imaging quality.

[0028] In some cases, the performance evaluation device calculates the MTF values ​​of the optical sensor at different spatial frequencies. In some cases, a high MTF value indicates that the optical sensor has good resolving power and can preserve more image details. In other cases, a low MTF value indicates that the optical sensor has poor resolving power and loses more details.

[0029] In another possible implementation of the first aspect, the first test pattern is located at a first angular position in the field of view of the light sensor, and the at least one performance indicator is used to indicate imaging performance of the light sensor at the first angular position in the field of view.

[0030] In the above embodiment, the performance index obtained based on the image is associated with the angular position of the test pattern in the image, which can accurately evaluate the imaging performance of the lens at a specified angular position in the field of view and accurately locate local optical performance anomalies caused by the glass plate.

[0031] In another possible implementation of the first aspect, the distance between the position of the first test pattern and the light sensor is a first distance. The at least one performance indicator is used to indicate imaging performance of the light sensor at a first angular position in the field of view and an object distance of the first distance.

[0032] In the above embodiment, the performance index obtained based on the image is associated with the object distance of the test pattern in the image, thereby accurately measuring the imaging performance of the optical sensor when measuring an object at a specified distance, and accurately locating the local optical performance anomaly caused by the glass sheet.

[0033] In yet another possible implementation of the first aspect, the at least one test pattern includes one or more of a cross pattern, a non-vertical cross pattern, or a long strip pattern.

[0034] The above pattern is suitable for tests such as diffraction ghosting, secondary image shift, and MTF. It is easy to analyze the transition area of ​​image intensity information and separate the primary image and secondary image, which helps to improve the accuracy of the test.

[0035] In yet another possible implementation of the first aspect, the at least one test pattern includes multiple test patterns, and the multiple test patterns exist at M different angular positions in the field of view of the light sensor, where M is a positive number and M ≥ 2. Furthermore, a maximum angular span of the M angular positions in at least one direction is greater than 1 / 2 of the field of view of the light sensor in the at least one direction.

[0036] In the above embodiment, the test patterns can be set at multiple different positions to accurately analyze the imaging performance at various positions of the field of view. Furthermore, multiple test patterns can cover as wide a field of view as possible, making the test results more comprehensive, rich and accurate.

[0037] In another possible implementation of the first aspect, the at least one test pattern includes multiple test patterns, and the multiple test patterns exist in N different positions, where N is an integer and N≥2. The distances between the N different simulation positions and the light sensor fall within [1 m, infinity].

[0038] In the above embodiment, the test patterns can be set at multiple object distances to accurately analyze the imaging performance of the optical sensor at various distances. Furthermore, the multiple test patterns can cover as wide an object distance range as possible, making the test results more comprehensive, rich, and accurate.

[0039] In the second aspect, the present application provides a performance evaluation method. The method can be performed by a performance evaluation device, which can be an independent device with computing capabilities (referred to as a computing device), or a software and / or hardware module in the computing device. It should be understood that the performance evaluation device here is the name of an exemplary execution subject, and the naming of the module for performing the evaluation process may be different in different scenarios, for example, it can be called a computer, a host, or a data processing module.

[0040] The performance evaluation method includes: a performance evaluation device acquiring a dark image and at least one stray light image from a light sensor, and generating performance evaluation data based on the dark image and the at least one stray light image. The dark image is detected when the light sensor is in darkness. The at least one stray light image is detected when light emitted by a first light source passes through a glass plate and strikes a light shield of the light sensor, the light shield being disposed between the light sensor and the glass plate. The performance evaluation data indicates the light shielding performance of the light shield.

[0041] When a light sensor is placed inside glass, the glass plate and the light sensor's viewing window may be separated, and stray light may enter the light sensor through the gap. Therefore, a light shield can be placed between the glass plate and the light sensor. This shield not only blocks stray light from entering the light sensor's optical path through the gap, but also reduces stray light caused by reflections from the glass plate. However, the light shield's blocking performance directly affects the signal-to-noise ratio of the signal received by the light sensor, thereby affecting image quality.

[0042] In the above embodiment, the light sensor captures a dark image when no light is present, as well as a stray light image when a light source is directly incident on the light shield. The performance evaluation device compares the stray light and dark images to automatically, quantitatively, and accurately evaluate the light shield's shielding performance. Furthermore, because the stray light images are captured when a light source is incident directly on the light shield through a glass plate, this simulates the actual operating environment of the light shield and light sensor. The testing process is consistent with actual application, resulting in highly valuable results. For example, this performance evaluation data can be used to improve the design and / or installation of the light sensor, light shield, and glass plate.

[0043] In another possible implementation of the second aspect, the at least one stray light image includes a first stray light image. The performance evaluation device obtains performance evaluation data using the dark image and the at least one stray light image, including: the performance evaluation device obtains a light shielding degree indicator based on an intensity value of a darkest pixel in the dark image and an intensity value of a brightest pixel in the first stray light image.

[0044] In the above embodiment, the contrast between the image in the absence of illumination and the stray light image can be calculated, thereby quantitatively evaluating the light shielding performance of the light shield, thereby improving the accuracy and practicality of the result.

[0045] In another possible implementation of the second aspect, there are multiple stray light images. The multiple stray light images correspond to different illumination parameters of the light source irradiating the light shield. The illumination parameters include one or more of the following: the position of the light spot irradiating the light shield, the illumination angle of the light source, the energy density of the light source, and the area of ​​the light spot irradiating the light shield.

[0046] In another possible implementation of the second aspect, the shading degree index P s Satisfies the following formula:

[0047]

[0048] Wherein, max is the intensity value of the brightest pixel in the first stray light image, and min is the intensity value of the darkest pixel in the dark image.

[0049] In another possible implementation of the second aspect, at least one stray light image includes a first stray light image; the performance evaluation data includes a shading degree index, which is related to the intensity values ​​of K first pixels in the dark image and the intensity values ​​of L second pixels in the first stray light image, K≥2, L≥2.

[0050] In a third aspect, the present application provides a testing system comprising a projection device, a glass plate, a light sensor, and a computing device. The light sensor is disposed on the inner side of the glass plate, and the projection device is disposed on the outer side of the glass plate. The projection device is configured to present at least one test pattern on the outer side of the glass plate. The light sensor is configured to generate at least one output image based on light from the at least one test pattern transmitted through the glass plate, the at least one output image including an image of the at least one test pattern.

[0051] The computing device is configured to obtain performance evaluation data based on the at least one output image. As can be seen, the performance evaluation data is used to indicate the imaging performance of the light sensor when sensing the environment through the glass plate.

[0052] In another possible implementation of the third aspect, a computing device is used to implement the method described in the first aspect or any possible implementation of the first aspect.

[0053] In yet another possible implementation of the third aspect, the distance between the test pattern presented by the projection device and the light sensor is adjustable.

[0054] In yet another possible implementation of the third aspect, the projection device is a collimator.

[0055] In yet another possible implementation of the third aspect, an angular position of the test pattern formed by the projection device in the field of view of the light sensor is adjustable.

[0056] In yet another possible implementation of the third aspect, the testing system further includes a mobile device, which is used to adjust an angular position of the test pattern projected by the projection device within a field of view of the light sensor.

[0057] In yet another possible implementation of the third aspect, the at least one test pattern includes multiple test patterns. The multiple test patterns exist at M different angular positions in the field of view of the light sensor, where M is a positive number and M ≥ 2. A maximum angular span of the M angular positions in at least one direction is greater than 1 / 2 of the field of view of the light sensor in the at least one direction.

[0058] In yet another possible implementation of the third aspect, the at least one test pattern includes multiple test patterns, and the multiple test patterns have N different simulated positions, where N is an integer and N ≥ 2. The distances between the N different simulated positions and the light sensor fall within [1 m, infinity].

[0059] In a fourth aspect, the present application provides a testing system comprising a light source, a glass plate, a light sensor, and a computing device. The light sensor is disposed on the inside of the glass plate, the light source is disposed on the outside of the glass plate, and a light shield is disposed between a viewing window of the light sensor and the glass plate to shield stray light directed toward the light sensor. The first light source is configured to emit light toward the light shield. The light sensor is configured to capture a dark image when the first light source is not emitting light, and to capture at least one stray light image when the first light source is emitting light.

[0060] The computing device is used to obtain performance evaluation data based on the dark image and the at least one stray light image. Further, the performance evaluation data is used to indicate the light shielding performance of the sunshade.

[0061] Optionally, the computing device is used to implement the method described in the second aspect or any possible implementation manner of the second aspect.

[0062] In a possible implementation of the fourth aspect, the position and / or angle at which the light source illuminates the light shield is adjustable. This can simulate the effects of light spots of different illumination areas on the light shield, thereby improving the accuracy and richness of the test results.

[0063] In another possible implementation of the fourth aspect, the size of the light spot irradiated by the light source on the light shield is adjustable. In the above implementation, during the test, multiple sets of different light spot sizes can be set, and multiple sets of stray light images can be collected separately to simulate the impact of light spots of different irradiation areas on the light shield, thereby improving the accuracy and richness of the test results.

[0064] In yet another possible implementation of the fourth aspect, the energy density of the light source irradiated onto the light shield is adjustable.

[0065] In another possible implementation of the fourth aspect, the light source is a collimator, wherein the collimator can simulate light sources at different distances, so that the size of the light spot of the light source falling on the light shield can be adjusted.

[0066] In a fifth aspect, the present application further provides a performance evaluation device, comprising an acquisition module and a processing module, wherein the acquisition module is used to acquire an image perceived by the optical sensor, and the processing module is used to obtain performance evaluation data based on the image perceived by the optical sensor.

[0067] The performance evaluation device is used to implement the method described in the first aspect or any possible implementation of the first aspect, or to implement the method described in the second aspect or any possible implementation of the second aspect.

[0068] In a sixth aspect, the present application also provides a computing device comprising a processor and a memory, wherein the memory stores computer instructions, and the processor is used to call the computer instructions stored in the memory to implement the method described in the first aspect or any possible embodiment of the first aspect, or to implement the method described in the second aspect or any possible embodiment of the second aspect.

[0069] In the seventh aspect, the present application also provides a computer program product comprising computer program instructions, which, when executed by a processor, enables the method described in the first aspect or any possible embodiment of the first aspect to be implemented, or enables the method described in the second aspect or any possible embodiment of the second aspect to be implemented.

[0070] In an eighth aspect, the present application also provides a computer-readable storage medium, which is used to store computer program instructions. When the computer program instructions are executed by a processor, the method described in the first aspect or any possible embodiment of the first aspect is implemented, or the method described in the second aspect or any possible embodiment of the second aspect is implemented.

[0071] The beneficial effects of the third to eighth aspects of this application can be found in the beneficial effects of the scheme of the first aspect and the scheme of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The following is a brief introduction to the drawings required for describing the embodiments.

[0073] Figure 1 This is a schematic diagram of the architecture of a test system provided in an embodiment of the present application;

[0074] Figure 2 yes Figure 1 Schematic diagram of the cross-sectional structure of the test system shown;

[0075] Figure 3 is a schematic diagram of the distribution of sampling points in a field of view provided by an embodiment of the present application;

[0076] Figure 4 Schematic diagram of four test patterns provided in the embodiments of the present application;

[0077] Figure 5 Schematic diagram of the position distribution of a test pattern in the FOV provided in an embodiment of the present application;

[0078] Figure 6 This is a schematic diagram of the position distribution of another test pattern in the FOV provided in an embodiment of the present application;

[0079] Figure 7 is a schematic diagram of an output image provided by an embodiment of the present application;

[0080] Figure 8 is a schematic diagram of the distance between a test pattern and a light sensor provided in an embodiment of the present application;

[0081] Figure 9 This is a flow chart of a performance evaluation method provided in an embodiment of the present application;

[0082] Figure 10 yes Figure 7 The intensity diagram of a part of the image shown;

[0083] Figure 11 yes Figure 10 Intensity information of a row of pixels in the pixel region shown;

[0084] Figure 12 is a schematic diagram of a local area of ​​an output image provided by an embodiment of the present application;

[0085] Figure 13 is a schematic diagram of the primary image position and the secondary image position provided in an embodiment of the present application;

[0086] Figure 14 This is a schematic diagram of the architecture of another test system provided in an embodiment of the present application;

[0087] Figure 15 This is a schematic diagram of a light source lighting position provided in an embodiment of the present application;

[0088] Figure 16 This is a flow chart of a performance evaluation method provided in an embodiment of the present application;

[0089] Figure 17 is a schematic diagram of a dark image and a stray light image provided by an embodiment of the present application;

[0090] Figure 18 Schematic diagram of a performance evaluation device provided in an embodiment of the present application;

[0091] Figure 19 It is a structural diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] The following is an introduction to some technical terms.

[0093] A collimator is an optical instrument that can generate parallel light beams and light beams from a specified distance, and is used to simulate light sources or targets at various distances. Exemplarily, a collimator includes a light source, an optical element, and a target plate. The light source is used to provide initial light. The target plate is placed in the focal plane of the light source to generate a specific pattern. Optical elements may include collimators, reflectors, etc., which can convert divergent light into parallel light. Its working principle is that the light emitted by the light source passes through the target plate and is collimated by the optical element to become a parallel light beam (or a light beam from a light source at other distances). The pattern of the target plate will be "projected" to various distances, such as infinity, to form a virtual target.

[0094] Diffraction ghosting, caused by diffraction or multiple reflections from glass, can form at the edges of the main image. This creates a transition in intensity information in the area where the diffraction ghosting occurs. Diffraction ghosting often appears as a fuzzy "halo" or faint, repeating outline around the main image.

[0095] Secondary images. When a glass plate is installed, light may be unexpectedly reflected, scattered, and refracted on the plate, resulting in blurred, offset, and duplicate images around the primary image. These images are called secondary images, or ghost images. The positions of the secondary and primary images are reflected in the pixel intensity distribution. The main characteristic is the presence of multiple images of similar shape and offset positions. When the secondary and primary images overlap, the pixel intensity information appears superimposed.

[0096] The above explanations of terms can be applied to the following embodiments.

[0097] With the advancement of detection technology, optical sensors are becoming increasingly powerful, with virtually no image quality issues when used independently. However, optical sensors are increasingly being installed inside cabins. When installed inside cabins, they often need to perceive the environment through a transparent housing, which can easily degrade the sensor's imaging performance.

[0098] Taking the automotive scene as an example, some vehicles' cameras, lidar, and other optical sensors are installed behind the windshield, which can easily degrade the image quality of the optical sensors. For example, the windshield can produce strong reflections and diffractions under strong light, causing halos in the image.

[0099] Since the output of light sensors is often used in the intelligent functions of the terminal (such as intelligent driving, 360-degree panoramic imaging, etc.), the detection reliability of light sensors is extremely important. Transparent shells can easily lead to degradation of the imaging performance of light sensors, resulting in reduced reliability of light sensors, which in turn affects the decision-making and output of intelligent functions. For example, diffraction caused by the heating wires in the windshield may cause halos or brushing in the image. Halos or brushing may cover the images of real objects in the environment, resulting in missed detection of targets. For another example, ghost images appear in the image under the influence of the windshield. Ghost images can cause errors in target recognition, resulting in the vehicle braking incorrectly or not braking, causing safety accidents.

[0100] To ensure that the reliability of the optical sensor in the terminal meets requirements, it is necessary to perform performance testing on the optical sensor installed inside the transparent housing. In view of this, the present application provides a performance evaluation method, testing system, and related apparatus that utilizes an optical sensor installed inside the glass to sense light from a light source outside the glass plate, and based on the image output by the optical sensor, identifies and obtains quantitative evaluation data for the optical sensor and / or its related components. It should be understood that while the embodiments of the present application illustrate the glass plate as the component through which the optical sensor is transmitted, the present application is also applicable to optical sensor housings made of other materials.

[0101] To facilitate understanding, the architecture of a test system provided in an embodiment of the present application is first introduced.

[0102] See Figure 1 and Figure 2 , Figure 1 This is a test system architecture provided by an embodiment of the present application. Figure 2 yes Figure 1 The test system 100 includes a light sensor 10, a glass plate 20, and a projection device 30, wherein:

[0103] The light sensor 10 is a sensor capable of performing image imaging. In some cases, the light sensor includes an image sensor, which has multiple photosensitive elements. For example, the image sensor includes a complementary metal oxide semiconductor (CMOS), a charge-coupled device (CCD), or a Live MOS. Furthermore, the data output by the image sensor can be used to obtain pixelated brightness and / or color information. In some other cases, the light sensor includes a lidar sensor, and some lidar sensors can use photon statistics to obtain intensity information of multiple pixels, and further obtain images. Some lidar sensors include multiple photodetectors, for example, the photodetector includes one or more of a p-type-intrinsic-n-type photodiode (PIN photodiode), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM). In some cases, the optical sensor includes a fusion sensing device, which includes at least two sensors, which can be of the same or different types. For example, some fusion sensing devices include at least two types of sensors, such as an image sensor, a lidar sensor, and a radar sensor.

[0104] The glass plate 20 is a light-transmitting sheet material. For example, the glass plate 20 is a vehicle windshield, a lens cover, or the like. In some cases, the glass plate 20 may be a multi-layer composite material. Optionally, components such as heating wires may be incorporated into the glass plate 20. Optionally, the surface of the glass plate 20, or one of its layers, may also be interposed or plated with a layer of optically relevant functional material, such as an antireflection layer or a filter layer.

[0105] Projection device 30 is used to project a test pattern. In some cases, projection device 30 is equipped with one or more optical elements that can simulate test patterns at various distances. Exemplarily, projection device 30 is a collimator. Alternatively, the projection device can be replaced with a physical test light source that is a test pattern or capable of generating a specific pattern, and the physical test light source can be moved by a mobile device.

[0106] In this embodiment of the present application, the optical sensor 10 is positioned inside the glass plate 20, that is, on the side closer to the negative z-axis. Because at least a portion of the glass plate 20 is made of a light-transmitting material, the optical sensor 10 can perceive the environment outside the glass plate 20 through the glass plate 20. The projection device 30 is positioned outside the glass plate 20 and is capable of displaying at least one test pattern on the outside of the glass plate. Accordingly, the optical sensor 10 generates at least one output image based on the light from the at least one test pattern transmitted through the glass plate. The at least one output image includes an image of the at least one test pattern.

[0107] Because the at least one output image is obtained when the light sensor perceives the environment through the glass sheet, it can reflect the optical performance of the light sensor when perceiving the environment through the glass sheet. Therefore, the module with computing capabilities can process the at least one output image to obtain performance evaluation data for the light sensor, indicating the optical performance of the light sensor when perceiving the environment through the glass sheet.

[0108] Optionally, the output image may be a rasterized image, or a digital image, wherein the number of channels in its pixels may be designed in various ways, such as single channel or multi-channel.

[0109] In some possible implementations, the testing system further includes a computing device 40 , which is a device with computing capabilities and can process at least one output image to obtain performance evaluation data of the optical sensor.

[0110] Optionally, the functions of the computing device 40 may be implemented by software, hardware, or a combination of software and hardware modules. The following describes the software modules and / or hardware modules that may be included in the computing device 40.

[0111] In one embodiment, the computing device 40 includes at least one processor, which is a module with processing capabilities. In one implementation, the processor may include a circuit with instruction reading and execution capabilities, such as an arithmetic unit, a processor core, a central processing unit (CPU), a microprocessor, a microcontroller unit (MCU), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the corresponding function. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In some implementations, the projection control device 101 includes at least one processor integrated in the form of a system-on-chip (SOC), which is generally referred to as an SOC by those skilled in the art. The SOC may include at least one processor. When the SOC includes multiple processors, the types of the multiple processors may be different, such as a CPU and an MCU.

[0112] For example, the computing device 40 may be a personal computer, a host, or a server.

[0113] In another scenario, computing device 40 includes one or more executable computer programs, computer codes, or computer instructions. "Execution" here refers to being executable on a processor or computing instance. In another scenario, computing device 40 may include computing instances, including virtual machines and containers. A virtual machine is a computer system that simulates complete hardware system functionality through software and runs in an isolated environment. A container is an isolated environment created by packaging an application and its dependent packages.

[0114] In some possible implementations, the testing system 100 further includes a light shield 50. The light shield 50 can block stray light from entering the optical path of the optical sensor 10 through the gap between the glass plate 20 and the optical sensor 10, and can also reduce stray light caused by reflections from the glass plate 20. In some cases, the optical sensor 10 includes a window 11, and the light shield 50 surrounds or semi-surrounds the window 11 and seals the gap between the window 11 and the glass plate 20.

[0115] In some possible implementations, the angle position of the test pattern formed by the projection device 30 in the field of view (FOV) of the light sensor 10 is adjustable. Figure 3 , Figure 3 Schematic diagram of the distribution of sampling points in a field of view provided by an embodiment of the present application. In the test system 100, the positions of the test patterns formed by the projection device 30 can be adjusted so that multiple test patterns can respectively cover multiple sampling point positions in the FOV.

[0116] For example, the projection position of projection device 30 can be adjusted. In this case, the position of projection device 30 is fixed, but the position of the test pattern it forms can be adjusted. Another example is that the position (optionally including the posture) of projection device 30 can be adjusted. As the position of projection device 30 changes, the position of the projected test pattern can also change accordingly. Optionally, in the latter case, testing system 100 also includes a mobile device, such as a robotic arm, that can adjust the position of the projection device to change the angular position of the test pattern projected by the projection device within the field of view of the light sensor.

[0117] See Figure 4 , Figure 4 Schematic diagram of a test pattern provided in an embodiment of the present application. Figure 4 In parts (a), (b), (c), and (d), the test pattern may include one or more of a cross pattern, a non-perpendicular cross pattern, a strip pattern, or a circular black and white alternating sector pattern. The circular black and white alternating sector pattern may be used as an exemplary MTF test pattern, and its spatial frequency varies.

[0118] See Figure 5 When the test pattern is a crosshair, multiple test patterns can be displayed at 12 points in the field of view of the light sensor in a time-sharing or simultaneous manner. For ease of description, Figure 5 The numbers used are ① to The sampling point locations are marked.

[0119] See Figure 6When the test pattern is an MTF test pattern, multiple test patterns can be displayed at 12 sample points in the field of view of the light sensor in a time-division or simultaneous manner. For ease of description, Figure 5 The numbers used are ① to The sampling point locations are marked.

[0120] Optionally, when multiple test patterns are presented in a time-sharing manner, taking the crosshairs as an example, the test pattern set at a certain sampling point (such as sampling point position ①) is captured by the optical sensor 10 through the glass plate 20, and the output image obtained by the optical sensor 10 within a certain sampling time can be as follows: Figure 7 shown.

[0121] In some possible implementations, the at least one test pattern includes multiple test patterns. The multiple test patterns have M different angular positions in the field of view of the light sensor, where M is a positive number and M≥2. The maximum angular span of the M angular positions in at least one direction is greater than or equal to 1 / 2 of the field of view of the light sensor in at least one direction. For example, Figure 5 In the sampling point position design shown in FIG, the direction from sampling point ① to sampling point ③ is the horizontal direction of the image, and the angle span of the FOV between sampling point ① and sampling point ③ in the horizontal direction is greater than 1 / 2 of the maximum value of the FOV in the horizontal direction. Figure 5 , the direction of sampling points ①, ④, ⑦, ⑩ is the vertical direction of the image, and the direction from sampling point ① to sampling point The direction is an oblique direction of the image, and the sampling point ① and the sampling point The angular span of the FOV in the oblique direction is greater than 1 / 2 of the maximum FOV in the oblique direction. In this way, multiple test patterns cover as wide an angle as possible, making the test results more comprehensive, rich and accurate.

[0122] In some possible implementations, the distance between the test pattern presented by the projection device 30 and the light sensor 10 is adjustable. For example, see Figure 8 Projection device 30 can form test patterns at multiple locations within a first distance range. In other words, the distance d between the test pattern and the light sensor is adjustable. For example, the distance d1 of test pattern #1 falls within the first distance range. For example, the first distance range is [1m, infinity]. For example, test pattern #2 is at a distance of 1m from light sensor 10, while test pattern #3 is at a distance of infinity. In this way, multiple test patterns can cover as many object distances as possible, resulting in more comprehensive, rich, and accurate test results.

[0123] For ease of understanding, a test process using the above system is described below. The projection device 30 presents a test pattern at a sampling point on the outside of the glass plate 20. Optionally, the projection device 30 can present N test patterns at different distances in a time-sharing manner. The light sensor 10 senses an image, which includes an image of the test pattern. Adjust the position of the projection device 30 and repeat the above steps so that the position of the test pattern presented by the projection device 30 covers M sampling points within the field of view of the light sensor 10, and the M sampling points have different angular positions within the field of view of the light sensor 10. For example, the positions of the M sampling points can be seen in Figure 3 、 Figure 5 ,or Figure 6 The computing device 40 obtains performance evaluation data based on the image output by the light sensor 10 .

[0124] The following combination Figure 9 Introducing a performance evaluation method provided by an embodiment of the present application, Figure 9 is a flow chart of a performance evaluation method provided in an embodiment of the present application. Optionally, the method is applied to a device with computing capabilities, such as Figure 1 The computing device 40 shown is, or is a software and / or hardware module in the computing device 40. For ease of description, the following description is made by taking the execution subject as a performance evaluation device as an example.

[0125] like Figure 9 The performance evaluation method shown includes one or more steps from S91 to S92. It should be understood that for ease of description, the description here is based on the order of S91 to S92, but the embodiment of the application does not limit the order, execution time, number of executions, etc. of the above one or more steps. S91 to S92 are specifically as follows:

[0126] S91 : The performance evaluation apparatus obtains at least one output image from a light sensor.

[0127] At least one output image is sensed by the light sensor through the glass plate, and the at least one output image includes an image of at least one test pattern. For example, the at least one output image includes Figure 7 The image shown. For related descriptions, please refer to the above.

[0128] In some cases, the light sensor may be communicatively coupled to the performance evaluation device, and the performance evaluation device may receive at least one output image from the light sensor via a communication connection. The communication connection herein includes a direct connection or a connection through an intermediate device. The communication connection may include one or more of a wired communication link, a wireless communication link, or a combination thereof.

[0129] In some other cases, at least one output image from the optical sensor may be copied to a storage medium, and the storage medium may be connected to the performance evaluation device via an interface, so that the performance evaluation device obtains at least one output image from the optical sensor in the storage medium via the interface.

[0130] Of course, the performance evaluation device may also obtain at least one output image sensed by the light sensor in other ways, which will not be described in detail here.

[0131] S92: The performance evaluation device obtains performance evaluation data based on at least one output image.

[0132] The performance evaluation data indicates the imaging performance of the optical sensor when sensing the environment through the glass sheet. Because the image captured by the optical sensor includes a specified test pattern, the optical performance of the optical sensor is reflected in the output image. The performance evaluation device uses this output image to accurately and quantitatively assess the optical performance of the optical sensor under the influence of the glass sheet. By simulating real-world scenarios, automated analysis, and quantitative evaluation, the accuracy and practicality of the test results are improved.

[0133] In some possible implementations, the performance evaluation device may obtain at least one performance indicator of the optical sensor based on the intensity information of pixels in the region of the test pattern in the output image. Exemplarily, the at least one performance indicator includes at least one of a first performance indicator, a second performance indicator, or an MTF indicator. The first performance indicator indicates the degree of diffraction ghosting of the optical sensor, the second performance indicator indicates the degree of secondary image shift in at least one direction of the optical sensor, and the MTF indicator indicates the resolving power of the optical sensor.

[0134] The intensity information of a pixel includes information describing the brightness of the pixel point, or information describing the brightness of a color channel. For example, the intensity of each pixel in a grayscale image is a scalar value that represents the brightness of the point. Taking an 8-bit image as an example, the intensity of a pixel typically ranges from 0 (pure black) to 255 (pure white). For another example, the intensity of a pixel in a color image is composed of multiple intensity values. For example, an RGB image contains intensity values ​​for three channels: red (R), green (G), and blue (B). The intensity value of each channel typically ranges from 0 to 255. The intensity information of a pixel area reflects the imaging situation from a data perspective. Therefore, the intensity information of a pixel area in an image can be used to quantitatively evaluate the optical performance of a light sensor.

[0135] The following describes the analysis process of the first image in at least one output image as an example.

[0136] In one possible implementation, the first image includes an image of a first test pattern among at least one test pattern. The performance evaluation device determines a value of at least one performance indicator of the light sensor based on intensity information of a first pixel region in the first image. The first pixel region includes at least a portion of the image of the first test pattern.

[0137] For example, see Figure 10 , Figure 10 yes Figure 7 The intensity diagram of a part of the image shown. Figure 10 Can be used as the first pixel area, or, Figure 10 The pixel regions shown include a first pixel region. In the latter case, the first image region may be obtained from Figure 10 Some pixels are intercepted from the pixel area shown. For example, Figure 10 The area shown includes a 200*300 pixel array, and its serial number is shown in the figure. The first pixel area may include one or more groups of pixels: the 100th row of pixels, the 99th to 102nd rows of pixels, the 150th column of pixels, the 149th to 151st columns of pixels, etc.

[0138] For example, the first pixel area is Figure 7 The area formed by some rows and / or some columns in the image shown, and the area includes at least a portion of the image of the first test pattern. For example, the first pixel area includes a plurality of pixels that are continuous at the display position, such as a pixel array formed by a row of pixels, a column of pixels, several rows of pixels, several columns of pixels, or multiple rows and columns of pixels.

[0139] For ease of understanding, several implementation methods for determining performance indicators are introduced below.

[0140] In implementation 1, the performance evaluation device obtains a value of a first performance indicator based on the width of an intensity transition region in the first pixel region along at least one direction. The first performance indicator is used to indicate the degree of diffraction ghosting of the light sensor. The intensity transition region is a region where the intensity of the pixel changes along at least one direction.

[0141] For example, the performance evaluation device is based on Figure 10 The intensity information of a row of pixels in the pixel area shown is used to obtain the value of the first performance indicator. Figure 11 , Figure 11 Shown Figure 10 The intensity information of a row of pixels in the pixel area shown in FIG. It can be seen that the intensity of the pixels varies along the column direction, and the intensity transition area is the area where the diffraction ghost is located. Therefore, the performance evaluation device obtains the degree of diffraction ghosting based on the width of the intensity transition area. For example, Figure 11The width of the intensity transition region shown is 30 pixels. In this case, the value of the first performance indicator can be obtained using a length of 30 pixels.

[0142] Exemplarily, the value of the first performance indicator is the angular span of the intensity transition zone along at least one direction. For example, 30 pixels correspond to 5° in the horizontal direction of the FOV, and the value of the first performance indicator is 5°. Furthermore, exemplarily, the value of the first performance indicator is the distance of the intensity transition zone along at least one direction. For example, 30 pixels correspond to 10 centimeters (cm) across the test pattern, and the value of the first performance indicator is 10 cm. For another example, the distance can also be represented by the number of pixels. For example, a first performance indicator value of 30 represents a width of 30 pixels. Furthermore, exemplarily, the value of the first performance indicator is one of at least two levels of diffraction ghosting, which can include mild, moderate, and severe, and can be determined by the range of the intensity transition zone width. For example, 1-25 pixels is mild, 26-50 pixels is severe, and 50 pixels or more is severe, and the value of the first performance indicator is moderate.

[0143] The above description is based on an example of calculating the width of the transition zone using a single row of pixels. In some cases, the aforementioned rows may be replaced by columns to obtain corresponding performance indicators in the column direction.

[0144] In some cases, when the intensity transition region includes multiple rows and columns of pixels, each column of pixels can be processed to obtain an intensity representation value for the column of pixels at its row position, and then the width of the intensity transition region along the row direction can be determined. Similarly, the rows and columns in the above situation can be interchanged.

[0145] In some other cases, when the intensity transition zone includes multiple rows and columns, the width of the pixel width zone in the oblique direction can be calculated. The oblique direction is different from the row direction and the column direction. It can be a 45° oblique direction (that is, a direction with a 45° angle with the row) or a width at other angles.

[0146] The above situations also apply to other implementations below.

[0147] In implementation 2, the intensity information of the first pixel region is used to indicate the position of the primary image and the position of the secondary image. Figure 12 , Figure 12 is a schematic diagram of a local area of ​​an output image provided by an embodiment of the present application, wherein the first pixel area may be Figure 12 The area shown, or the first pixel area is Figure 12 Some pixels in the area shown, such as a row of pixels, a column of pixels, or multiple rows and columns of pixels. Figure 12 It can be seen that the position of the secondary image and the position of the primary image can be reflected in the intensity distribution of the pixels.

[0148] The performance evaluation device obtains a second performance indicator based on the intensity information of the first pixel region. The second performance indicator is used to indicate the degree of secondary image offset of the light sensor in at least one direction. The value of the second performance indicator is related to the offset of the secondary image relative to the primary image. For example, the greater the offset of the secondary image relative to the primary image, the greater the value of the second performance indicator, and vice versa. For another example, the greater the offset of the secondary image relative to the primary image, the smaller the value of the second performance indicator, and vice versa.

[0149] like Figure 13 (a) When there is a secondary image around the primary image, the intensity distribution of the pixel area can be expressed as the superposition of two signals, one strong and one weak. Figure 13 In (b), the performance evaluation device can determine the positions of the primary image and the secondary image from the superimposed intensity values. For example, if the starting position of the primary image is A and the starting position of the secondary image is B, the distance between A and B can be used to determine the offset of the secondary image relative to the primary image (e.g., the number of horizontal pixels offset), thereby obtaining the value of the second performance indicator.

[0150] Exemplarily, the value of the second performance indicator is the offset angle of the secondary image relative to the primary image in the field of view of the optical sensor. For example, if the secondary image is offset by 15 pixels relative to the primary image, 15 pixels corresponds to 2.5° in the horizontal direction of the FOV, and the value of the second performance indicator is 2.5°. Another exemplary embodiment, the value of the second performance indicator is the offset distance of the secondary image relative to the primary image. For example, if 15 pixels corresponds to 5 cm in the distance of the test pattern, the value of the second performance indicator is 5 cm. For another example, the distance can also be represented by the number of pixels. For example, a second performance indicator value of 15 represents a width of 15 pixels. Another exemplary embodiment, the value of the second performance indicator is one of at least two offset levels, including mild, moderate, and severe, and can be determined by the width of the intensity transition region. For example, 1-10 pixels is mild, 20-40 pixels is severe, and 40 pixels or more is severe, and the value of the second performance indicator is moderate.

[0151] In implementation 3, at least one test pattern includes an MTF test pattern, and the second image includes an image of the MTF test pattern. The performance evaluation device obtains a value of the MTF indicator based on the second image. Optionally, the second image is the same as the first image.

[0152] The above three implementation methods are only examples, and more implementation methods may be included in the specific implementation process.

[0153] In some possible implementations, the performance evaluation data includes the value of at least one performance indicator of the aforementioned optical sensor. For example, see Table 2. Table 1 is a schematic diagram of performance evaluation data. Figure 7When the test pattern falls on the optical sensor's field of view (-50°, +40°) and the distance between the test pattern and the sensor is 1m, based on Figure 7 The image shown can determine at least one performance indicator of the optical sensor at this angular position and this distance. For example, the first performance indicator is the performance indicator along the x direction (i.e. Figure 7 For example, the first performance index is a1°, and similarly, the second performance index is b1°. Optionally, the above indexes can also be replaced or include the diffraction ghosting index along the y direction (i.e. Figure 7 Indicators in the vertical direction) or in the diagonal direction are only examples.

[0154] Since the performance evaluation data includes the value of the at least one performance indicator, the performance evaluation data can be used to accurately analyze the optical performance of the light sensor at multiple angles in the field of view. Figure 7 The data forms, formats, and values ​​and intervals of angle positions and object distances shown are all examples.

[0155]

[0156]

[0157] In some possible implementations, the performance evaluation device generates performance evaluation data based on at least one performance indicator of the optical sensor. For example, the performance evaluation device processes the performance indicator based on image granularity to generate an overall evaluation result. For another example, the performance evaluation data may be generated based on the positions at multiple viewing angles and distances shown in Table 1 to serve as the aforementioned performance evaluation data. The overall evaluation result can summarize the performance of the optical sensor, aid in determining its degree of compliance, and facilitate easy review by personnel.

[0158] In some possible implementations, the first test pattern is located at a first angular position in the field of view of the light sensor. At least one performance indicator is used to indicate the imaging performance of the light sensor at the first angular position in the field of view. Figure 7 In the image shown, the test pattern is located at the position (-50°, +40°) in the FOV, so the obtained performance index can be used to indicate the imaging performance at this position, as shown in Table 1.

[0159] In some possible implementations, the distance between the first test pattern and the light sensor is a first distance. At least one performance indicator is used to indicate imaging performance of the light sensor at the first angular position in the field of view and the first object distance. For example, when the first test pattern is located at 1 meter, the first performance indicator is used to indicate imaging performance of the light sensor at that object distance.

[0160] In some possible implementations, the at least one test pattern includes multiple test patterns, and the multiple test patterns exist at M different angular positions in the field of view of the light sensor, where M is a positive number and M ≥ 2. Furthermore, a maximum angular span of the M angular positions in at least one direction is greater than 1 / 2 of the field of view of the light sensor in the at least one direction.

[0161] In some possible implementations, the at least one test pattern includes multiple test patterns, and the multiple test patterns exist in N different positions, where N is an integer and N≥2. The distances between the N different simulation positions and the light sensor fall within [1 m, infinity].

[0162] See Figure 14 , Figure 14 2 is a schematic diagram of the architecture of another test system provided in an embodiment of the present application. The test system 200 includes a light source 60, a glass plate 20, and a light sensor 10. The light sensor is disposed on the inside of the glass plate, the light source is disposed on the outside of the glass plate, and a light shield is disposed between the window of the light sensor and the glass plate to block stray light directed toward the light sensor. The first light source is configured to emit light toward the light shield. The light sensor is configured to capture a dark image when the first light source is not emitting light (e.g., in darkness or in the absence of light), and to capture at least one stray light image when the first light source is emitting light.

[0163] Furthermore, the testing system 200 further includes a computing device 40, which is configured to obtain performance evaluation data based on the dark image and the at least one stray light image. Furthermore, the performance evaluation data is configured to indicate the light shielding performance of the light shield.

[0164] In one possible implementation, the computing device is configured to obtain light-shielding performance evaluation data using a dark image and at least one stray light image.

[0165] In one possible embodiment, the position and / or angle at which the light source shines on the light shield is adjustable. Figure 15 The position where the light source 60 illuminates the light shield can be designed in multiple positions and multiple illumination angles to comprehensively test the light shielding performance. In some cases, the illumination angle can be defined as the angle between the main optical axis of the light beam emitted by the light source 60 and the bottom plane of the light shield.

[0166] In one possible implementation, the size of the light spot on the light shield is adjustable. Furthermore, during the test, multiple sets of different light spot sizes can be set, and multiple sets of stray light images can be collected separately to simulate the impact of light spots of different illumination areas on the light shield, thereby improving the accuracy and richness of the test results.

[0167] In one possible embodiment, the light source is a collimator, which can simulate light sources at different distances, and adjust one or more of the shape and size of the light spot falling on the light shield, as well as the energy density.

[0168] To facilitate understanding, the following describes a test process using test system 200. Light sensor 10 captures a dark image with light source 60 turned off. After light source 60 is turned on, it illuminates a specified location on the light shield with specified illumination parameters, and light sensor 10 captures a stray light image. Optionally, light source 60 can adjust its illumination parameters and re-illuminate the light shield, causing light sensor 10 to capture several more stray light images. Based on the dark image and stray light images captured by light sensor 10, computing device 40 can generate evaluation data on the light shield's performance.

[0169] Optionally, the aforementioned test system 200 may be integrated with the aforementioned test system 100. For example, a test system 100 includes a light sensor 10, a glass plate 20, a projection device 30, a computing device 40, a light shield 50, and a light source 60.

[0170] The following combination Figure 16 Introducing a performance evaluation method provided by an embodiment of the present application, Figure 16 is a flow chart of another performance evaluation method provided in an embodiment of the present application. Optionally, the method is applied to a device with computing capabilities, such as Figure 1 The computing device 40 shown is, or is a software and / or hardware module in the computing device 40. For ease of description, the following description is made by taking the computing device as an example.

[0171] like Figure 16 The performance evaluation method shown includes one or more steps from S161 to S162. It should be understood that for the sake of convenience, the description here is based on the order of S161 to S162, but the embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. S161 to S162 are as follows:

[0172] S161 : The performance evaluation apparatus obtains a dark image and at least one stray light image from a light sensor.

[0173] When a light sensor is placed inside glass, the glass plate and the light sensor's viewing window may be separated, and stray light may enter the light sensor through the gap. Therefore, a light shield can be placed between the glass plate and the light sensor. This shield not only blocks stray light from entering the light sensor's optical path through the gap, but also reduces stray light caused by reflections from the glass plate. However, the light shield's blocking performance directly affects the signal-to-noise ratio of the signal received by the light sensor, thereby affecting image quality.

[0174] S162: The performance evaluation device obtains performance evaluation data using the dark image and at least one stray light image.

[0175] The light sensor captures a dark image when no light is present, as well as a stray light image when a light source is directly shining on the light shield. The performance evaluation device compares the stray light and dark images to accurately and quantitatively evaluate the light shield's shielding performance. Because the light source shines directly on the light shield through the glass plate, the light sensor's actual operating environment is simulated, and the testing process is consistent with actual application. Therefore, this light shielding performance can be used to improve the design and installation of light sensors, light shields, and glass plates, possessing high practical value.

[0176] In some possible implementations, combining Figure 17 , at least one stray light image includes a first stray light image. The performance evaluation device obtains a shading degree index based on the intensity value of the darkest pixel in the dark image and the intensity value of the brightest pixel in the first stray light image. Exemplarily, the shading degree index P s Satisfies the following formula:

[0177]

[0178] Wherein, max is the intensity value of the brightest pixel in the first stray light image, and min is the intensity value of the darkest pixel in the dark image.

[0179] In some possible implementations, there are multiple stray light images. The multiple stray light images correspond to different illumination parameters of the light source irradiating the light shield. The illumination parameters include one or more of the following: the position of the light spot irradiating the light shield, the angle of the light source, the energy density of the light source, and the area of ​​the light spot irradiating the light shield.

[0180] Furthermore, the first image corresponds to a set of illumination parameter values, and the aforementioned shading degree index is used to characterize the shading performance of the light shield under the values ​​of the set of illumination parameters.

[0181] In some possible embodiments, at least one stray light image includes a first stray light image; and the performance evaluation data includes a shading degree index, which is related to the intensity values ​​of K first pixels in the dark image and the intensity values ​​of L second pixels in the first stray light image, where K≥2 and L≥2.

[0182] For example, the performance evaluation device obtains the light shielding performance index of the performance evaluation device based on the intensity values ​​of K relatively dark pixels in the dark image and the intensity values ​​of L relatively bright pixels in the first stray light image.

[0183] The above describes the scenarios used in the embodiments of the present application and the methods provided by the present application, and the devices of the embodiments of the present application are provided below. It is understandable that the multiple devices provided in the embodiments of the present application, such as performance evaluation devices, computing devices, chips, etc., in order to implement the functions in the above-mentioned method embodiments, include hardware structures, software units, or combinations of hardware structures and software structures for executing each function. Those skilled in the art should easily appreciate that, in conjunction with the various functions described in the embodiments disclosed herein, the devices and modules in the devices can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different device implementations to implement the aforementioned method embodiments in different usage scenarios, and the different implementations of the devices should not be considered to exceed the scope of the embodiments of the present application.

[0184] Several possible arrangements are listed below.

[0185] See Figure 18 , Figure 18 1 is a schematic diagram of the structure of a performance evaluation device provided in an embodiment of the present application. The performance evaluation device 180 includes an acquisition unit 1801 and a processing unit 1802. The performance evaluation device 180 can be an independent device, such as the aforementioned computing device 40. Alternatively, the performance evaluation device 180 can also be a software module and / or hardware module in an independent device, such as a chip or a computer program.

[0186] The performance evaluation device 180 is used to implement the aforementioned performance evaluation method, for example, Figure 9 or Figure 16 The method performed by the performance evaluation device in the illustrated embodiment and its possible implementation methods.

[0187] In one possible design, the performance evaluation device 180 is used to implement Figure 9 The performance evaluation method shown.

[0188] In one possible implementation, the acquisition unit 1801 is configured to acquire at least one output image from the optical sensor, and the processing unit 1802 is configured to obtain performance evaluation data based on the at least one output image.

[0189] In another possible embodiment, the at least one output image includes a first image, the first image including an image of a first test pattern among the at least one test pattern. The processing unit 1802 is configured to determine a value of at least one performance indicator of the light sensor based on intensity information of a first pixel region in the first image.

[0190] In yet another possible implementation, the processing unit 1802 is further configured to obtain performance evaluation data based on at least one performance indicator value of the light sensor.

[0191] In yet another possible implementation, the processing unit 1802 is configured to obtain a value of the first performance indicator based on a width of the intensity transition region in the first pixel region along at least one direction.

[0192] In another possible implementation, the intensity information of the first pixel region is used to indicate the primary image position and the secondary image position. The processing unit 1802 is configured to obtain a value of the second performance indicator based on the intensity information of the first pixel region.

[0193] In another possible implementation, the at least one test pattern includes an MTF test pattern, the at least one output image includes a second image, and the second image includes an image of the MTF test pattern. The processing unit 1802 is configured to obtain a value of the MTF indicator based on the second image.

[0194] In another possible design, the performance evaluation device 180 is used to implement Figure 16 The performance evaluation method shown.

[0195] In a possible implementation, the acquisition unit 1801 is configured to acquire a dark image and at least one stray light image from a light sensor, and the processing unit 1802 is configured to obtain performance evaluation data based on the dark image and the at least one stray light image.

[0196] In one possible implementation, the at least one stray light image includes a first stray light image. The processing unit 1802 is configured to obtain a light shielding degree index based on the intensity value of the darkest pixel in the dark image and the intensity value of the brightest pixel in the first stray light image.

[0197] Figure 19 FIG. 4 is a schematic diagram of a computing device provided in an embodiment of the present application. The computing device 40 is a device with computing capabilities. Figure 19 As shown, computing device 40 includes a processor 401 and a memory 403. Optionally, computing device 40 further includes one or more of a connection line 404, a communication interface 402, and the like. Exemplarily, processor 401 and memory 403 communicate with each other via connection line 404. It should be understood that this application does not limit the number of processors and memories in computing device 40.

[0198] Memory 403 is used to provide storage space, which may store computer programs or data. Memory 403 may include volatile memory, such as random access memory (RAM). Memory 403 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0199] The processor 401 is a module for performing calculations and may include any one or more of a controller, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a DSP, a coprocessor (to assist the CPU in completing corresponding processing and applications), an ASIC, an MCU, a virtual machine, a container, and the like.

[0200] The communication interface 402 is used to provide information input or output for at least one processor, such as a read-in line interface, a read-out line interface, etc. And / or, the communication interface 402 can be used to receive data sent externally and / or send data externally. The communication interface 402 can be a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies). Optionally, the communication interface 402 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0201] The connection line 404 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. Buses may be classified into address buses, data buses, control buses, etc. For ease of representation, Figure 19 The connection line 404 may include a path for transmitting information between various components of the computing device 40 (eg, the memory 403, the processor 401, and the communication interface 402).

[0202] In one possible implementation, the memory 403 stores executable instructions, and the processor 401 executes the executable instructions to implement the aforementioned performance evaluation method, for example, to implement Figure 9 or Figure 16 The method performed by the computing device in the illustrated embodiment and its possible implementation.

[0203] The embodiment of the present application also provides a chip, including a processor and a communication interface. The communication interface is used to input and / or output data (including instructions), and / or the communication interface is used to receive and / or send data. When the processor executes the program instructions in the memory, the aforementioned performance evaluation method is executed, for example, Figure 3 The method in the embodiment shown.

[0204] The embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed by at least one processor, implement the aforementioned performance evaluation method, for example, Figure 9 or Figure 16 The method in the illustrated embodiment. The computer-readable storage medium may be any available medium capable of being stored by a computing device, or a data storage device such as a data center that contains one or more available media. The computer-readable storage medium may be a magnetic medium (e.g., a floppy disk, a hard disk, or a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive).

[0205] The present application provides a computer program product, which includes computer instructions. When the instructions are executed on at least one processor, the aforementioned performance evaluation method is implemented, for example, Figure 9 or Figure 16 Optionally, the computer program product may be a software installation package or an image package, and when the aforementioned method is required, the computer program product may be downloaded and executed on a computing device.

[0206] The present application provides a terminal, which includes the aforementioned computing device 40, or the terminal includes the aforementioned performance evaluation device 180, or the terminal includes the aforementioned chip, or the terminal includes the aforementioned computer storage medium, or the terminal deploys the aforementioned computer program product.

[0207] The term "terminal" here is not limited to the end nodes in a communication system but refers to electronic devices in general. For example, it encompasses one or more electronic devices, such as mobile platforms or smart devices. Mobile refers to autonomous or semi-autonomous moving vehicles or devices, such as vehicles, drones, aircraft, and robots. Smart devices refer to devices with integrated sensors.

[0208] Optionally, the terminal includes an intelligent device or vehicle such as a vehicle, a drone or a robot.

[0209] In addition, a few additional explanations are required for this application:

[0210] 1. Unless otherwise specified, “plurality” means two or more.

[0211] 2. Unless otherwise specified or there is no logical conflict, the terms and / or descriptions between different embodiments of this application are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments based on their internal logical relationships.

[0212] 3. The various numerical numbers involved in this application are only used for the convenience of description and are not used to limit the scope of protection of this application. The size of the serial numbers involved in this application does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic. For example, the terms "first", "second", "third", "fourth" and other various terminology labels (if any) in the specification and claims and drawings of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. Among them, the data used in this way can be interchangeable where appropriate, so that the embodiments described here can be implemented in an order other than what is illustrated or described here.

[0213] At the same time, any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0214] 4. The terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product or apparatus.

[0215] 5. For ease of illustration, the drawings of the embodiments of this application slightly exaggerate the sizes and shapes of components (such as the glass plate and light shield). Specifically, the sizes and surface shapes of the components shown in the drawings are for illustrative purposes only. Furthermore, the drawings are for illustrative purposes only and are not drawn strictly to scale.

[0216] 6. "Storage" or "saving" as used in this application may refer to storage in one or more memories. The one or more memories may be provided separately or integrated into an encoder or decoder, a processor, or a communication device. The one or more memories may also be partially provided separately and partially integrated into a decoder, processor, or communication device. The type of memory may be any form of storage medium and is not limited thereto.

[0217] 7. Unless otherwise specified, “ / ” indicates that the objects associated with each other are in an “or” relationship. For example, A / B can mean A or B. “And / or” in this application is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural.

[0218] 8. The names of devices, equipment, modules, information, and parameters in this application are for illustrative purposes only. In practice, the names of these items may be different. For example, a computing device may also be referred to as a control device, a host, or a computing module.

Claims

1. A performance evaluation method, characterized in that: The method comprises: Acquire at least one output image from a light sensor, wherein the at least one output image is sensed by the light sensor through the glass plate, and the at least one output image includes an image of at least one test pattern; Performance evaluation data is obtained based on the at least one output image, the performance evaluation data being used to indicate imaging performance of the light sensor when sensing an environment through the glass sheet.

2. The performance evaluation method according to claim 1, wherein: The at least one output image comprises a first image; the first image comprises an image of a first test pattern of the at least one test pattern; The obtaining first performance evaluation data based on the at least one output image includes: determining a value of at least one performance indicator of the light sensor based on intensity information of a first pixel region in the first image; The first pixel area includes at least a portion of an image of the first test pattern.

3. The method according to claim 1 or 2, characterized in that The performance evaluation data includes a value of at least one performance indicator of the light sensor; Alternatively, the value of at least one performance indicator of the light sensor is used to obtain the performance evaluation data.

4. The method according to claim 2 or 3, characterized in that The at least one performance indicator includes at least one of a first performance indicator, a second performance indicator or an MTF indicator, Wherein, the first performance indicator is used to indicate the degree of diffraction ghosting of the light sensor; The second performance indicator is used to indicate the degree of secondary image shift of the optical sensor in at least one direction; The MTF index is used to indicate the resolution capability of the optical sensor.

5. The performance evaluation method according to claim 2, wherein: The determining, based on intensity information of a first pixel region in the first image, a value of at least one performance indicator of the light sensor includes: A value of a first performance indicator is obtained based on a width of an intensity transition region in a first pixel area along at least one direction, where the first performance indicator is used to indicate a degree of diffraction ghosting of the light sensor.

6. The performance evaluation method according to claim 4 or 5, characterized in that: The value of the first performance indicator is the angular span of the intensity transition zone along the at least one direction, Alternatively, the value of the first performance indicator is the distance of the intensity transition zone along the at least one direction; Alternatively, the value of the first performance indicator is one of at least two diffraction ghosting levels.

7. The performance evaluation method according to any one of claims 2 to 6, characterized in that: The intensity information of the first pixel area is used to indicate the position of the primary image and the position of the secondary image; The determining, based on intensity information of a first pixel region in the first image, a value of at least one performance indicator of the light sensor includes: A value of a second performance indicator is obtained based on the intensity information of the first pixel area, where the second performance indicator is used to indicate a degree of secondary image offset of the light sensor in at least one direction, and the value of the second performance indicator is related to an offset of the secondary image position relative to the primary image position.

8. The performance evaluation method according to claim 7, characterized in that: The value of the second performance indicator is the offset angle of the secondary image position relative to the primary image position in the field of view of the optical sensor, Alternatively, the value of the second performance indicator is an offset distance of the secondary image position relative to the primary image position; Alternatively, the value of the second performance indicator is one of at least two secondary image offset levels.

9. The performance evaluation method according to any one of claims 5 to 8, wherein the at least one direction comprises one or more of a row direction, a column direction, or a diagonal direction of the first image. in, The oblique direction is different from both the row direction and the column direction.

10. The method according to claim 9, characterized in that The at least one test pattern comprises a modulation transfer function (MTF) test pattern, the at least one output image comprises a second image comprising an image of the MTF test pattern; The obtaining performance evaluation data by using the at least one output image comprises: A value of an MTF indicator is obtained based on the second image.

11. The performance evaluation method according to any one of claims 2 to 10, characterized in that: The first test pattern is located at a first angular position in the field of view of the light sensor; The at least one performance indicator is used to indicate the imaging performance of the light sensor at a first angular position in the field of view.

12. The performance evaluation method according to claim 11, characterized in that: The distance between the position of the first test pattern and the light sensor is a first distance; The at least one performance indicator is used to indicate the imaging performance of the light sensor at a first angular position of the field of view and a first object distance.

13. The method according to any one of claims 1 to 12, characterized in that The at least one test pattern includes one or more of a cross pattern, a non-vertical cross pattern, or a long stripe pattern.

14. The performance evaluation method according to any one of claims 1 to 13, characterized in that: The at least one test pattern includes a plurality of test patterns, The plurality of test patterns exist at M different angular positions in the field of view of the light sensor, where M is a positive number and M≥2; A maximum angular span of the M angular positions in at least one direction is greater than 1 / 2 of the field of view of the light sensor in the at least one direction.

15. The performance evaluation method according to any one of claims 1 to 14, characterized in that: The at least one test pattern includes a plurality of test patterns, and the plurality of test patterns exist in N different positions, where N is an integer and N≥2; The distances between the N different simulated positions and the light sensor fall within [1 m, infinity].

16. A performance evaluation method, characterized in that: The method comprises: acquiring a dark image and at least one stray light image from a light sensor, wherein the dark image is sensed when the light sensor is in darkness, and the at least one stray light image is sensed when light emitted by a first light source passes through a glass plate and illuminates a light shield of the light sensor, the light shield being disposed between the light sensor and the glass plate; Performance evaluation data is obtained using the dark image and the at least one stray light image, where the performance evaluation data is used to indicate the light shielding performance of the light shield.

17. The performance evaluation method according to claim 16, wherein: The at least one stray light image includes a plurality of stray light images, The multiple stray light images correspond to multiple sets of light source illumination parameter values, and the illumination parameters include one or more of the position of the light spot irradiated on the light shield, the illumination angle of the light source, the energy density of the light source, and the area size of the light spot irradiated on the light shield.

18. The performance evaluation method according to claim 16 or 17, characterized in that: The at least one stray light image includes a first stray light image; The obtaining performance evaluation data by using the dark image and the at least one stray light image includes: A light shielding degree index is obtained based on the intensity value of the darkest pixel in the dark image and the intensity value of the brightest pixel in the first stray light image.

19. The method according to claim 18, characterized in that The shading degree index P s Satisfies the following formula: Here, max is the intensity value of the brightest pixel in the first stray light image, and min is the intensity value of the darkest pixel in the dark image.

20. The performance evaluation method according to claim 16 or 17, characterized in that: The at least one stray light image includes a first stray light image; the performance evaluation data includes a shading degree index, The shading degree index is related to the intensity values ​​of K first pixels in the dark image and the intensity values ​​of L second pixels in the first stray light image, where K≥2 and L≥2.

21. A testing system, characterized in that: The device comprises a projection device, a glass panel, a light sensor, and a computing device, wherein: The optical sensor is arranged on the inner side of the glass plate, and the projection device is arranged on the outer side of the glass plate; The projection device is used to present at least one test pattern on the outside of the glass plate; The light sensor is configured to obtain at least one output image based on light of the at least one test pattern transmitted through the glass plate, the at least one output image including an image of the at least one test pattern; The computing device is used to implement the performance evaluation method according to any one of claims 1 to 15.

22. The test system according to claim 21, wherein: The distance between the test pattern presented by the projection device and the light sensor is adjustable.

23. The test system according to claim 21 or 22, characterized in that: The projection device is a collimator.

24. The test system according to any one of claims 21 to 23, characterized in that: The angular position of the test pattern projected by the projection device in the field of view of the light sensor is adjustable.

25. The testing system according to any one of claims 21 to 24, characterized in that: The testing system further includes a mobile device, The mobile device is used to adjust the angular position of the test pattern projected by the projection device within the field of view of the light sensor.

26. The performance evaluation method according to any one of claims 21 to 25, characterized in that: The at least one test pattern includes a plurality of test patterns; The plurality of test patterns exist at M different angular positions in the field of view of the light sensor, where M is a positive number and M≥2; A maximum angular span of the M angular positions in at least one direction is greater than 1 / 2 of the field of view of the light sensor in the at least one direction.

27. The performance evaluation method according to any one of claims 21 to 26, characterized in that: The at least one test pattern includes a plurality of test patterns, and the plurality of test patterns have N different simulation positions, where N is an integer and N≥2; The distances between the N different simulated positions and the light sensor fall within [1 m, infinity].

28. A testing system, characterized in that: include: A light source, a glass panel, a light sensor, and a computing device, wherein: The light sensor is arranged on the inner side of the glass plate, the light source is arranged on the outer side of the glass plate, and the light shield is arranged between the window of the light sensor and the glass plate to shield stray light toward the light sensor; The first light source is used to emit light toward the light shield; The light sensor is configured to capture a dark image when the first light source is not emitting light, and to capture at least one stray light image when the first light source is emitting light; The computing device is used to implement the performance evaluation method described in any one of claims 16-21.

29. The test system according to claim 28, characterized in that The position and / or angle at which the light source irradiates the light shield is adjustable.

30. The test system according to claim 28 or 29, characterized in that The size of the light spot of the light source on the light shield is adjustable.

31. The testing system according to any one of claims 28 to 30, characterized in that: The light source is a parallel light tube.

32. A performance evaluation device, characterized in that: The performance evaluation device includes an acquisition module and a processing module. The acquisition module is used to acquire the image perceived by the light sensor; The processing module is used to obtain performance evaluation data based on the image perceived by the optical sensor; The performance evaluation device is used to implement the method described in any one of claims 1 to 15, or to implement the method described in any one of claims 16 to 20.

33. A computing device, characterized in that The computing device includes a processor and a memory, the memory stores computer instructions, and the processor is used to call the computer instructions stored in the memory to implement the method according to any one of claims 1 to 15, or to implement the method according to any one of claims 16 to 20.

34. A computer program product comprising computer program instructions, characterized in that When the computer program instructions are executed by a processor, a device including the processor is enabled to implement the method according to any one of claims 1 to 15, or to implement the method according to any one of claims 16 to 20.

35. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store computer program instructions. When the computer program instructions are executed by a processor, the device including the processor implements the method according to any one of claims 1 to 15, or implements the method according to any one of claims 16 to 20.

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