Simulation method and device of motor vehicle panoramic looking-around system, computer readable storage medium and computer program product
By constructing a virtual simulation scene in 3D modeling software and using a virtual camera to simulate the parameters of an actual camera, the problem of high difficulty in simulating and testing panoramic surround view systems in existing technologies has been solved, achieving efficient and low-cost simulation of panoramic surround view systems.
Patent Information
- Application Number
- CN202511655286.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-12
- Publication Date
- 2026-02-06
AI Technical Summary
Existing simulation testing methods for vehicle panoramic surround view systems cannot effectively simulate factors such as image stitching accuracy, image latency, and resource occupancy, resulting in high difficulty and cost of simulation testing.
By constructing a virtual simulation scene in 3D modeling software, using a virtual camera to simulate the parameters of an actual camera, image distortion correction, stitching and rendering are performed, and simulation parameters are adjusted to test performance parameters until the target value is reached.
It enables efficient simulation of panoramic surround view system performance in a virtual environment, reducing simulation difficulty and cost, and improving simulation efficiency.
Smart Images
Figure CN121482271A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The embodiment of the present application relates to the field of simulation test of motor vehicle panoramic surround view system, in particular to a simulation method, device, computer readable storage medium and computer program product of motor vehicle panoramic surround view system. BACKGROUND
[0002] The motor vehicle panoramic surround view system is to collect video images through multiple cameras installed around the vehicle body, then to perform image processing such as distortion correction, splicing and rendering on the video images, finally to obtain panoramic surround view images and display them, so as to facilitate the driver to understand the environment around the vehicle including the traditional line-of-sight blind area in real time, and to improve the driving safety and convenience.
[0003] In the development process of the motor vehicle panoramic surround view system, it is necessary to test the image processing effect under different environments, wherein the simulation test software is commonly used for simulation test. An existing motor vehicle panoramic surround view system test method comprises the following steps: constructing a virtual site through a three-dimensional simulation software, then importing the related data of the motor vehicle and the vehicle-mounted camera into the virtual site to generate a virtual motor vehicle and a virtual camera, adjusting the position and direction of the virtual motor vehicle and the virtual camera according to the actual motor vehicle and the vehicle-mounted camera, finally generating a virtual image by controlling the virtual camera to shoot, and using the virtual image to test and calibrate the panoramic camera.
[0004] However, the inventors have found in the specific implementation that the above-mentioned existing method only calibrates and debugs the related parameters of the vehicle-mounted camera, thereby only appropriately adjusting the image field of view, but in the actual operation process of the panoramic surround view system, the image splicing accuracy, image delay and resource occupation rate also have a significant impact on the overall performance of the panoramic surround view system, however, the above-mentioned existing method cannot effectively simulate test in these aspects, and can only be directly completed on the actual vehicle, thereby increasing the debugging difficulty, and the simulation test difficulty is large. SUMMARY
[0005] The technical problem to be solved by the embodiment of the present application is to provide a simulation method of motor vehicle panoramic surround view system, which can reduce the simulation difficulty and cost.
[0006] The technical problem to be solved by the embodiment of the present application is to provide a simulation method of motor vehicle panoramic surround view system, which can reduce the simulation difficulty and cost.
[0007] The technical problem to be solved by the embodiment of the present application is to provide a simulation method of motor vehicle panoramic surround view system, which can reduce the simulation difficulty and cost.
[0008] The technical problems further solved by the embodiments of the present application are to provide a computer program product, which can reduce the difficulty and cost of simulation.
[0009] To solve the above technical problems, the embodiments of the present application first provide the following technical solutions: a simulation method of a motor vehicle panoramic surround view system, comprising the following steps: obtaining a performance parameter target value of the motor vehicle panoramic surround view system, the performance parameter target value at least including an image field of view range, an image stitching accuracy, an image time delay and a resource occupation rate; constructing a virtual simulation scene in a three-dimensional modeling software, the virtual simulation scene including a virtual simulation field and a virtual motor vehicle and a virtual camera constructed according to the parameters of an actual motor vehicle and an actual camera thereon in the virtual simulation field; calibrating each virtual camera, obtaining a virtual single-channel image generated by each virtual camera shooting the virtual simulation field around the virtual motor vehicle, and performing image processing on each virtual single-channel image to generate a virtual panoramic image, the image processing at least including distortion correction, stitching and rendering; adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image, testing the updated virtual panoramic image by using a corresponding detection method to obtain a corresponding performance parameter test value; and judging whether the performance parameter test value reaches the corresponding performance parameter target value, if yes, outputting the simulation parameters of the virtual simulation scene at this time as target parameters and adjusting the next simulation parameter until obtaining the target parameters corresponding to all simulation parameters to be tested.
[0010] Further, the adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image comprises: adjusting the camera parameters of the virtual camera to correct the image field of view range of the virtual panoramic image, the camera parameters including the focal length, the field of view angle, the distortion coefficient and the installation angle of the virtual camera; setting corresponding distance markers in the virtual simulation field according to the distance from the virtual motor vehicle, the distance markers being distance columns, distance lines or color bars representing different distances with different colors, and using a corresponding extraction algorithm model to identify each distance marker in the virtual panoramic image to judge whether the image field of view range of the virtual panoramic image reaches the corresponding image field of view range target value.
[0011] Further, the adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image comprises: adjusting stitching parameters of image stitching of the virtual single-lane images captured by each virtual camera in various driving scenes to correct image stitching accuracy of the virtual panoramic image, the driving scenes being changed correspondingly by setting specific venue parameters of the virtual simulation venue, the venue parameters at least including illumination intensity, road surface material and obstacle style; testing and analyzing stitching pixel misregistration rate and color consistency of the virtual panoramic image generated in each driving scene to determine whether the image stitching accuracy of the virtual panoramic image reaches a corresponding image stitching accuracy target value.
[0012] Further, the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene includes: adjusting image rendering parameters of the virtual panoramic image to correct image latency of the virtual panoramic image; testing and analyzing actual time length from the virtual single-lane images captured by the virtual camera to the generation of the virtual panoramic image to determine whether the image latency of the virtual panoramic image reaches a corresponding image latency target value.
[0013] Further, the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene includes: adjusting texture resolution of the virtual single-lane images to correct resource occupation rate in the generation of the virtual panoramic image; testing and analyzing peak load of a data processor and memory consumption in the generation of the virtual panoramic image to determine whether the resource occupation rate of the virtual panoramic image reaches a corresponding resource occupation rate target value.
[0014] Further, the performance parameter target value further includes a vehicle underbody transparency effect, and the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene further includes: controlling the virtual motor vehicle to move in the virtual simulation venue to generate a vehicle underbody dynamic transparent area in the virtual panoramic image; detecting and analyzing transition smoothness of each edge of the vehicle underbody dynamic transparent area by using an edge detection algorithm model to determine whether the transition smoothness of the transparent edge of the virtual panoramic image reaches a corresponding vehicle underbody transparency effect target value.
[0015] Further, when it is determined that the performance parameter test value does not reach the corresponding performance parameter target value, the currently adjusted simulation parameter is continuously adjusted until the performance parameter test value reaches the corresponding performance parameter target value. In another aspect, to solve the further technical problem, the embodiment of the present application provides the following technical solution: a simulation device of a motor vehicle panoramic surround view system, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the simulation method of the motor vehicle panoramic surround view system according to any one of the above when executing the computer program.
[0016] In another aspect, to solve the further technical problem, the embodiment of the present application provides the following technical solution: a computer readable storage medium comprising a stored computer program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the simulation method of the motor vehicle panoramic surround view system according to any one of the above when the computer program runs.
[0017] After adopting the above technical solution, the embodiment of the present application has at least the following beneficial effects: the embodiment of the present application acquires the performance parameter target value of the panoramic surround view system first, and the specific performance parameter target value can include the image field of view range, the image splicing accuracy, the image delay and the resource occupancy rate, so that diversified simulation tests can be realized on the panoramic surround view system in the subsequent simulation process. Specifically, a virtual simulation scene is quickly constructed by using a three-dimensional modeling software first, the virtual simulation scene can simply and conveniently switch different environment styles, and a physical scene does not need to be re-built, thereby reducing the test difficulty and the test cost. Moreover, since the virtual simulation scene is a virtual motor vehicle and a virtual camera constructed according to the parameters of the actual motor vehicle and the actual camera thereon in the virtual simulation site, the shooting characteristics of the real vehicle camera can be simulated by accurately setting the related parameters of the virtual camera in the virtual scene, the virtual panoramic image is generated by performing image processing on the virtual single image shot by the virtual camera, and then the simulation parameters of the virtual simulation scene are adjusted, and after each adjustment, the updated virtual panoramic image is tested by using the corresponding detection method, so that whether the performance parameter test value obtained by the test reaches the corresponding performance parameter target value is judged, thereby the test can be performed without the real vehicle, the simulation difficulty is reduced, and finally when the performance parameter test value of the simulation project meets the performance parameter target value, the simulation parameters of the virtual simulation scene at this time are output as the target parameters, and all the target parameters are obtained, and the simulation efficiency is high. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 The step flow chart of an optional embodiment of the simulation method of the motor vehicle panoramic surround view system of the present application.
[0019] Figure 2 The step flow chart of another optional embodiment of the simulation method of the motor vehicle panoramic surround view system of the present application.
[0020] Figure 3 A principle block diagram of an optional embodiment of the simulation device of the motor vehicle panoramic surround view system.
[0021] Figure 4 A function module diagram of an optional embodiment of the simulation device of the motor vehicle panoramic surround view system. DETAILED DESCRIPTION
[0022] The application will be further described below in conjunction with the drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the application and are not intended to limit the application, and the embodiments in the application and the features in the embodiments can be combined with each other without conflict.
[0023] As shown in Figure 1 An optional embodiment of the application provides a simulation method of a motor vehicle panoramic surround view system, comprising the following steps: S1: acquiring performance parameter target values of the motor vehicle panoramic surround view system, the performance parameter target values at least including image field of view range, image stitching precision, image time delay and resource occupation rate; S2: constructing a virtual simulation scene in a three-dimensional modeling software, the virtual simulation scene including a virtual simulation field and a virtual motor vehicle and virtual cameras constructed according to parameters of an actual motor vehicle and actual cameras thereon in the virtual simulation field; S3: calibrating each of the virtual cameras, acquiring virtual single images generated by each of the virtual cameras shooting the virtual simulation field around the virtual motor vehicle, and performing image processing on each of the virtual single images to generate a virtual panoramic image, the image processing at least including distortion correction, stitching and rendering; S4: alternatively adjusting simulation parameters of the virtual simulation scene to update the virtual panoramic image, testing the updated virtual panoramic image by using a corresponding detection method to obtain corresponding performance parameter test values; and S5: judging whether the performance parameter test values reach corresponding performance parameter target values, if yes, outputting the simulation parameters of the virtual simulation scene at this time as target parameters and adjusting the next simulation parameter until obtaining target parameters corresponding to all simulation parameters to be tested.
[0024] The embodiment of the present application can obtain the performance parameter target value of the panoramic surround view system first, and the specific performance parameter target value can include image field of view range, image stitching accuracy, image delay and resource occupancy rate, so that diversified simulation test can be realized on the panoramic surround view system in the subsequent simulation process, specifically, the virtual simulation scene is quickly constructed by using a three-dimensional modeling software, the virtual simulation scene can simply and conveniently switch different environment styles, physical scene does not need to be re-built, and test difficulty and test cost are reduced; moreover, since the virtual simulation scene is constructed with a virtual motor vehicle and a virtual camera in the virtual simulation site according to the parameters of the actual motor vehicle and the actual camera thereon, the shooting characteristics of the real vehicle camera can be simulated by accurately setting the related parameters of the virtual camera in the virtual scene, the virtual panoramic image is generated by performing image processing on the virtual single-channel image shot by the virtual camera, then the simulation parameters of the virtual simulation scene are adjusted, and after each adjustment, the updated virtual panoramic image is tested by using the corresponding detection method, so that whether the corresponding performance parameter target value is reached is judged according to the performance parameter test value obtained by the test, so that the test can be performed without the real vehicle, the simulation difficulty is reduced, and finally, when the performance parameter test value of the simulation project meets the performance parameter target value, the simulation parameters of the virtual simulation scene at this time are output as target parameters, and all target parameters are obtained, and the simulation efficiency is high.
[0025] In the specific implementation, the rich and varied image processing and computer vision algorithms provided by OpenCV are mainly used, and the interfaces related to graphics rendering are processed by using OpenGL ES, which is a simplified subset of OpenGL developed for embedded systems and is a high-level 3D graphics API targeted at handheld and embedded devices; in addition, it can be understood that the parameters of the actual motor vehicle and the actual camera specifically refer to the size, shape and other parameters of the motor vehicle, and the installation position, number, model and internal parameters of the camera.
[0026] In another optional embodiment of the present application, the simulation parameters of the virtual simulation scene are adjusted to update the virtual panoramic image, including: the camera parameters of the virtual camera are adjusted to correct the image field of view range of the virtual panoramic image, and the camera parameters include the focal length, field of view angle, distortion coefficient and installation angle of the virtual camera; the corresponding range markers are set according to the distance from the virtual motor vehicle in the virtual simulation site, the range markers are range columns, range lines or color bars representing different distances with different colors, and the corresponding extraction algorithm model is used to identify each range marker in the virtual panoramic image to judge whether the image field of view range of the virtual panoramic image reaches the corresponding image field of view range target value.
[0027] In this embodiment, the image field of view is mainly affected by the related parameters of the camera, so in the debugging process, the camera parameters are mainly adjusted to correct the image field of view of the virtual panoramic image; for the evaluation of the image field of view, in the model construction process, corresponding distance markers can be set on the driving surface of the virtual simulation site, and each distance marker in the virtual panoramic image can be identified by a corresponding extraction algorithm model to determine the image field of view of the virtual panoramic image, which can be simply and efficiently evaluated. Specifically, the distance marker can be a distance column, a distance line, or a color bar representing different distances with different colors, and the corresponding shape extraction algorithm or color extraction algorithm can be used to identify the distance marker.
[0028] In another optional embodiment of the present application, the adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image includes: adjusting the stitching parameters of the image stitching of the virtual single-image captured by each virtual camera in various driving scenes to correct the image stitching accuracy of the virtual panoramic image, the driving scenes are changed by setting the specific site parameters of the virtual simulation site, and the site parameters at least include the light intensity, the road surface material and the obstacle style; testing and analyzing the stitching pixel misregistration rate and the color consistency of the virtual panoramic image generated in each driving scene to determine whether the image stitching accuracy of the virtual panoramic image reaches the corresponding image stitching accuracy target value.
[0029] In this embodiment, for the image stitching accuracy, in the actual driving process, environmental brightness, driving ground and the environment of the motor vehicle have a significant impact on the image stitching accuracy, so in the simulation process, the corresponding parameters of the virtual simulation site are adjusted to simulate different driving scenes, so that the image stitching accuracy of the vehicle in different driving scenes can be effectively simulated; for the evaluation of the image stitching accuracy, the stitching pixel misregistration rate and the color consistency of the same object in the surrounding environment of the motor vehicle in the virtual panoramic image generated in different driving scenes can be tested, such as green belts, gray-black road surfaces, and white or yellow lane markings on the road surface, the stitching pixel misregistration rate and the color consistency can quickly verify the color balance ability and the image stitching alignment accuracy of the image, and the efficiency of the evaluation of the image stitching accuracy can be realized.
[0030] In specific implementation, the driving scene specifically refers to an urban driving scene, a parking lot parking scene, a rural road scene, etc.; the switching of the specific driving scene can be realized by adjusting the obstacle style in the scene.
[0031] In another optional embodiment of the present application, the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene comprises: adjusting the image rendering parameters of the virtual panoramic image to correct the image latency of the virtual panoramic image; testing and analyzing the actual time length from the virtual single-lane image captured by the virtual camera to the generation of the virtual panoramic image to determine whether the image latency of the virtual panoramic image reaches the corresponding image latency target value.
[0032] In this embodiment, for the image latency of the system, the generation of the virtual panoramic image mainly includes distortion correction, splicing and rendering processes, among which the time-consuming of the image rendering by the system is particularly obvious, and therefore, the image latency can be corrected by controlling the image rendering parameters of the system to perform rendering with different performance. For the evaluation of the latency, the actual overall time length from the capture of the virtual single-lane image to the generation of the virtual panoramic image can be directly tested to quickly realize the latency determination, and the evaluation efficiency is high.
[0033] In another optional embodiment of the present application, the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene comprises: adjusting the texture resolution of the virtual single-lane image to correct the resource occupation rate in the process of generating the virtual panoramic image; testing and analyzing the peak load of the data processor and the memory consumption in the process of generating the virtual panoramic image to determine whether the resource occupation rate of the virtual panoramic image reaches the corresponding resource occupation rate target value.
[0034] In this embodiment, for the resource occupation rate of the system, the texture resolution of the virtual single-lane image to be processed has an influence on the resource occupation rate, and therefore, the resource occupation rate can be corrected by adjusting the resolution of the virtual single-lane image. For the evaluation of the resource occupation rate, the peak load of the data processor (for example, CPU / GPU) used for image processing and the memory consumption can be detected to determine whether the resource occupation rate meets the corresponding resource occupation rate target value, and the evaluation accuracy is high.
[0035] In another optional embodiment of the present application, the performance parameter target value further comprises a vehicle bottom transparent effect, and the updating of the virtual panoramic image by alternatively adjusting the simulation parameters of the virtual simulation scene further comprises: controlling the virtual motor vehicle to move in the virtual simulation site to generate a vehicle bottom dynamic transparent area in the virtual panoramic image; detecting and analyzing the transition smoothness of each edge of the vehicle bottom dynamic transparent area by using an edge detection algorithm model to determine whether the transition smoothness of the transparent edge of the virtual panoramic image reaches the corresponding vehicle bottom transparent effect target value.
[0036] Currently, with the diversification of the functions of the panoramic surround view system, the function of dynamic transparency of the vehicle bottom is usually carried. In the embodiment, for the dynamic transparency of the vehicle bottom, it can only be realized when the motor vehicle moves, therefore, the dynamic transparency area of the vehicle bottom in the virtual panoramic image can be generated in the subsequent image processing process by controlling the virtual motor vehicle to move in the virtual simulation site; in addition, in the test and evaluation link, the edges of the dynamic transparency area of the vehicle bottom can be directly detected by using an edge detection algorithm model, the transition smoothness of each edge is calculated, and then it is judged whether the transition smoothness of the transparent edge of the virtual panoramic image meets the corresponding vehicle bottom transparency effect target value, and the evaluation efficiency is high.
[0037] In another optional embodiment of the present application, as shown in Figure 2 When it is determined that the performance parameter test value does not reach the corresponding performance parameter target value, the simulation parameter currently adjusted is continuously adjusted until the performance parameter test value reaches the corresponding performance parameter target value. In the embodiment, when the obtained performance parameter test value is not up to standard, the simulation parameter at this time is still continuously adjusted until the obtained performance parameter test value can reach the corresponding performance parameter target value, thereby ensuring that each simulation parameter to be tested can obtain the corresponding target parameter, avoiding omission, and thus the best simulation effect can be obtained.
[0038] In specific implementation, after all the target parameters are obtained, the panoramic surround view system and the actual camera can be parameter adjusted on the real vehicle based on the target parameters, so as to actually test the panoramic surround view system after parameter adjustment to verify the simulation effect of the panoramic surround view system.
[0039] On the other hand, as shown in Figure 3 An optional embodiment of the present application further provides a simulation device 1 of a panoramic surround view system of a motor vehicle, which comprises a processor 10, a memory 12, and a computer program stored in the memory 12 and configured to be executed by the processor 10, and the processor 10 implements the simulation method of the panoramic surround view system of the motor vehicle according to any one of the above embodiments when executing the computer program.
[0040] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the simulation device 1 of the panoramic surround view system of the motor vehicle. For example, the computer program can be divided into Figure 4The function module in the simulation device 1 of the motor vehicle all-around view system, wherein the target value acquisition module 31, the virtual scene construction module 32, the virtual image generation module 33, the virtual image test module 34 and the target parameter output module 35 correspond to the above steps S1-S5 respectively.
[0041] The simulation device 1 of the motor vehicle all-around view system can be a desktop computer, a notebook, a palm computer and a cloud server and the like computing device. The simulation device 1 of the motor vehicle all-around view system can include, but is not limited to, a processor 10 and a memory 12. Those skilled in the art can understand that the schematic diagram is only an example of the simulation device 1 of the motor vehicle all-around view system, and does not constitute a limitation on the simulation device 1 of the motor vehicle all-around view system, and can include more or less components than the diagram, or combine certain components, or different components, for example, the simulation device 1 of the motor vehicle all-around view system can also include an input / output device, a network access device, a bus and the like.
[0042] The processor 10 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), ready programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor 10 is the control center of the simulation device 1 of the motor vehicle all-around view system, and connects each part of the simulation device 1 of the motor vehicle all-around view system through various interfaces and lines.
[0043] The memory 12 can be used to store the computer programs and / or modules, and the processor 10 realizes various functions of the simulation device 1 of the motor vehicle surround view system by running or executing the computer programs and / or modules stored in the memory 12, and calling the data stored in the memory 12. The memory 12 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a graphic recognition function, a graphic layering function, etc.), and the like; and the data storage area can store data (such as graphic data, etc.) created according to the use of the control device, and the like. In addition, the memory 12 can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash storage device, or other volatile solid-state storage devices.
[0044] If the functions of the embodiments of the present application are realized in the form of software function modules or units and sold or used as independent products, they can be stored in a computer device readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by computer programs instructing related hardware, and the computer programs can be stored in a computer readable storage medium. When the processor 10 executes the computer programs, the steps of the above-mentioned various method embodiments can be realized. The computer programs include computer program codes, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program codes, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
[0045] In still another aspect, the embodiments of the present application further provide a computer readable storage medium, which includes a stored computer program, wherein the computer program controls the device where the computer readable storage medium is located to execute the simulation method of the motor vehicle surround view system according to any one of the above-mentioned embodiments when the computer program runs.
[0046] In still another aspect, an embodiment of the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the simulation method of the motor vehicle surround view system according to any of the above embodiments.
[0047] The various embodiments described in the specification are presented by way of example only and are not intended to limit the scope of the application. The various embodiments can be implemented in any combination or sub-combination thereof.
[0048] The embodiments of the present application described above are only used to illustrate the present application and not intended to limit the present application. The present application can be implemented in many other forms without departing from the spirit and essential characteristics of the present application. The skilled in the art shall understand that any modification, equivalent replacement and improvement made without departing from the spirit and essential characteristics of the present application shall fall within the scope of protection of the present application.
Claims
1. A simulation method for a vehicle panoramic surround view system, characterized in that, The method includes the following steps: Obtain target values for the performance parameters of the vehicle panoramic surround view system. The target values for the performance parameters include at least the image field of view, image stitching accuracy, image latency, and resource utilization. A virtual simulation scene is constructed in 3D modeling software. The virtual simulation scene includes a virtual simulation site and virtual vehicles and virtual cameras constructed in the virtual simulation site according to the parameters of actual vehicles and their actual cameras. Each virtual camera is calibrated, and virtual single-channel images generated by each virtual camera capturing virtual simulated ground around the virtual vehicle are obtained. Image processing is performed on each virtual single-channel image to generate a virtual panoramic image. The image processing includes at least distortion correction, stitching and rendering. The virtual panoramic image is updated by adjusting the simulation parameters of the virtual simulation scene, and the updated virtual panoramic image is tested using a corresponding detection method to obtain the corresponding performance parameter test values; and Determine whether the test value of the performance parameter has reached the corresponding target value of the performance parameter. If so, output the simulation parameter corresponding to the virtual simulation scene at this time as the target parameter and adjust the next simulation parameter until the target parameters corresponding to all simulation parameters to be tested are obtained.
2. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, The step of selectively adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image includes: The camera parameters of the virtual camera are adjusted to correct the field of view of the virtual panoramic image. The camera parameters include the focal length, field of view, distortion coefficient, and installation angle of the virtual camera. In the virtual simulation field, corresponding gauge marks are set according to the distance to the virtual motor vehicle. The gauge marks are gauge marks, gauge marks, or color bars with different colors to represent different distances. The corresponding extraction algorithm model is used to identify each gauge mark in the virtual panoramic image to determine whether the image field of view of the virtual panoramic image reaches the corresponding image field of view target value.
3. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, The step of selectively adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image includes: Adjust the stitching parameters for stitching the virtual single-channel images captured by the virtual cameras in various driving scenarios to correct the image stitching accuracy of the virtual panoramic image. The driving scenario changes accordingly by setting specific site parameters of the virtual simulation site. The site parameters include at least light intensity, road surface material, and obstacle style. The test analyzes the pixel misalignment rate and color consistency of the virtual panoramic image generated under each driving scenario to determine whether the image stitching accuracy of the virtual panoramic image reaches the corresponding image stitching accuracy target value.
4. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, The step of selectively adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image includes: Adjust the image rendering parameters of the virtual panoramic image to correct the image latency of the virtual panoramic image; The test analyzes the actual time from obtaining the virtual single-channel image captured by the virtual camera to generating the virtual panoramic image in order to determine whether the image latency of the virtual panoramic image reaches the corresponding image latency target value.
5. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, The step of selectively adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image includes: Adjust the texture resolution of the virtual single-channel image to correct the resource consumption during the generation of the virtual panoramic image; The peak load and memory consumption of the data processor during the generation of the virtual panoramic image are tested and analyzed to determine whether the resource utilization rate of the virtual panoramic image has reached the corresponding target value.
6. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, The target performance parameter also includes a transparent undercarriage effect, and the step of selectively adjusting the simulation parameters of the virtual simulation scene to update the virtual panoramic image further includes: The virtual vehicle is controlled to move within the virtual simulation environment to generate a dynamically transparent area under the vehicle in the virtual panoramic image; An edge detection algorithm model is used to detect and analyze the transition smoothness of each edge in the dynamically transparent area under the vehicle to determine whether the smoothness of the transparent edge transition in the virtual panoramic image reaches the target value of the corresponding vehicle bottom transparency effect.
7. The simulation method for a vehicle panoramic surround view system as described in claim 1, characterized in that, If it is determined that the test value of the performance parameter has not reached the corresponding target value of the performance parameter, the simulation parameter is adjusted until the test value of the performance parameter reaches the corresponding target value of the performance parameter.
8. A simulation device for a vehicle panoramic surround view system, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement a simulation method for a vehicle panoramic surround view system as described in any one of claims 1-7.
9. A computer-readable storage medium comprising a stored computer program, wherein, When the computer program is running, it controls the device containing the computer-readable storage medium to execute the simulation method of the motor vehicle panoramic surround view system as described in any one of claims 1-7.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the simulation method for the motor vehicle panoramic surround view system as described in any one of claims 1-7.