Image data injection equipment and semi-physical simulation test system

Abstract

The utility model provides image data injection equipment and a semi-physical simulation test system.The image data injection equipment comprises at least one image data processing device and at least one signal conversion device, and the at least one image data injection equipment is connected with an electric control unit through the at least one signal conversion device; and injecting the target image data into the electric control unit. Each image data processing device is used for receiving image data and converting the image data into at least one path of target image data. And the at least one signal conversion device is connected with the image data processing device and is used for converting the at least one path of target image data into serial data and outputting the serial data to the electric control unit, so that the target image data can be deserialized and used by the electric control unit. According to the image data injection device, the part with the data serial output function is designed into the independent signal conversion device, and the updating process of the image data injection device is simplified in the mode that only the signal conversion device is replaced.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to an image data injection device and a semi-physical simulation test system. Background Art

[0002] With the rapid development of autonomous driving technology, more and more vehicles are equipped with Advanced Driving Assistance Systems (ADAS). At present, the tests for ADAS are mainly divided into real vehicle tests and hardware in the loop (HIL) tests. The hardware in the loop test has the advantages of short test cycle, low cost, and the ability to simulate extremely dangerous working conditions, which is of great significance to the research and development of ADAS. In the HIL test of the ADAS function of the whole vehicle, the image data injection device is mainly used to simulate the on-board camera, and the image data is injected into the on-board electronic control unit (ECU) through the device to achieve the purpose of simulation test. However, since the functions of the on-board electronic control unit are still in a state of gradual improvement, its functions and hardware are updated frequently. If the existing image data injection device wants to match the updated electronic control unit, it needs to be redesigned. Each redesign of the image data injection device requires a lot of manpower, material resources and time, which is not suitable for long-term development. Utility Model Content

[0003] In view of the above problems, the present disclosure provides an image data injection device and a semi-physical simulation test system to solve or improve the problems of low efficiency and high cost caused by the need to fully update the image data injection device in order to match the updated electronic control unit.

[0004] On the one hand, an image data injection device is provided, which includes: at least one image data processing device and at least one signal conversion device, wherein the at least one image data injection device is connected to an electronic control unit through the at least one signal conversion device to inject target image data into the electronic control unit. Each image data processing device is used to receive image data and convert the image data into at least one channel of target image data. At least one signal conversion device is connected to the image data processing device to convert at least one channel of target image data into serial data and output it to the electronic control unit, so that the target image data can be deserialized and used by the electronic control unit.

[0005] In a possible implementation, the signal conversion device includes: a shell having a cavity. A signal conversion circuit, which is arranged in the cavity of the shell. And a data interface connector and a coaxial cable connector respectively connected to the signal conversion circuit. The signal conversion device is connected to the image data processing device through the data interface connector, and at least one channel of target image data enters the signal conversion circuit through the data interface connector. The signal conversion circuit includes: at least one serializer and at least one power chip. The serializer is used to convert at least one channel of target image data into serial data, and the model of the serializer matches the model of the deserializer of the electronic control unit. The power chip is used to power at least one serializer. The signal conversion device is connected to the electronic control unit through the coaxial cable connector, and the serial data enters the electronic control unit through the coaxial cable connector, so that the deserializer of the electronic control unit can deserialize the received serial data.

[0006] In a possible implementation, the image data processing device includes: a decoding module, an online configuration module, a format conversion module, and an output module. The decoding module is connected to an external host computer, and is used to receive image data configured by the host computer and decode the image data. The online configuration module is respectively connected to the host computer, the signal conversion device, the format conversion module, and the output module, and is used to receive online configuration information configured by the host computer, and perform corresponding operations based on instructions issued by the electronic control unit. The format conversion module is connected to the decoding module, and is used to perform format conversion on the decoded image data based on the online configuration information. The output module is connected to the electronic control unit, and is used to process the format-converted image data into target image data based on the online configuration information and instructions and output it to the signal conversion device.

[0007] In a possible implementation, the online configuration module includes: an online communication unit, an online configuration control unit, a configuration data storage unit, and an IIC transceiver unit connected in sequence. The online communication unit also communicates with the host computer, and the host computer writes the online configuration information and lighting parameters into the configuration data storage unit through the online communication unit, wherein the online configuration information is the configuration information of the vehicle-mounted camera, and the lighting parameters are the working parameters of the vehicle-mounted camera when it is working normally. The online configuration control unit reads the online configuration information from the configuration data storage unit, and controls the format conversion module and the output module based on the online configuration information. The IIC transceiver unit also communicates with the electronic control unit through the signal conversion device, and the IIC transceiver unit receives the instructions issued by the electronic control unit. The electronic control unit reads the lighting parameters in the configuration data storage unit through the IIC transceiver unit to simulate the initialization configuration of the vehicle-mounted camera.

[0008] In a possible implementation, the format conversion module includes: a shunt unit, a pixel format conversion unit, and a pixel format selection unit. The shunt unit is used to shunt the decoded image data into multiple channels, and output the multiple channels of image data to the pixel format conversion unit. The pixel format conversion unit is used to convert the format of the pixel data in the multiple channels of image data. The pixel format selection unit is used to select image data with pixel data of a corresponding format for output based on the online configuration information.

[0009] In a possible implementation, the output module includes: a timing generation unit and a timing output unit. The timing generation unit is used to generate an output timing of the image data based on the online configuration information. The timing output unit is used to process the format-converted image data into target image data based on the output timing, and output it to the signal conversion device.

[0010] In a possible implementation, the image data processing device further includes: a cache module. The cache module is connected to the decoding module and is used to cache the decoded image data. In a possible implementation, the cache module includes: a frame cache control unit and a frame cache unit. The frame cache control unit is used to receive the decoded image data, write the decoded image data into the frame cache unit, and read and output the decoded image data from the frame cache unit.

[0011] In a possible implementation, the image data processing device further includes: a scaling module. The scaling module is connected to the cache module, the format conversion module, and the online configuration module respectively, and is used to adjust the resolution of the decoded image data based on the online configuration information.

[0012] On the other hand, a semi-physical simulation test system is provided, which includes: an electronic control unit, a host computer, and at least one image data injection device as described in any of the above items. Each image data injection device is connected to the host computer and the electronic control unit, respectively, and is used to receive configuration data of the electronic control unit and image data configured by the host computer. Each image data injection device converts the image data into at least one channel of target image data according to the configuration data, and outputs the at least one channel of target image data to the electronic control unit in a serial manner.

[0013] The beneficial effects brought by the technical solution provided by the present disclosure include at least: the embodiment of the present disclosure provides an image data injection device and a semi-physical simulation test system, wherein the image data injection device includes at least one image data processing device and at least one signal conversion device, and at least one image data injection device is connected to the electronic control unit through at least one signal conversion device to inject the target image data into the electronic control unit. Each image data processing device is used to convert the image data into at least one channel of target image data. At least one signal conversion device is connected to the image data processing device, and is used to convert at least one channel of target image data into serial data and output it to the electronic control unit, so that the target image data can be deserialized and used by the electronic control unit. The image data injection device of the embodiment of the present disclosure splits the part with the image data processing function and the part with the function of serializing and outputting data, which are originally an integrated design, into two independent devices, namely the image data processing device and the signal conversion device. Compared with the image data processing device with a more complex structure, the structure of the signal conversion device is simpler. When the model or function of the deserialization chip of the electronic control unit changes, only the signal conversion device needs to be replaced to realize the update of the entire image data injection device. This design method fully simplifies the process of updating and replacing the image data injection device.

[0014] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the detailed implementation section of this specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of the structure of a semi-physical simulation test system according to an embodiment of the present disclosure.

[0017] Figure 2 A schematic diagram of the structure of an image data injection device according to an embodiment of the present disclosure.

[0018] Figure 3 Another structural schematic diagram of the image data injection device according to an embodiment of the present disclosure.

[0019] Figure 4 This is another structural schematic diagram of the image data injection device according to an embodiment of the present disclosure.

[0020] Figure 5 This is another structural schematic diagram of the image data injection device according to an embodiment of the present disclosure.

[0021] Figure 6 A schematic diagram of the structure of a signal conversion device according to an embodiment of the present disclosure.

[0022] Figure 7 A schematic diagram of the structure of an image data processing device according to an embodiment of the present disclosure.

[0023] Figure 8 A structural diagram of an online configuration module according to an embodiment of the present disclosure.

[0024] Fig. 9 A structural diagram of a format conversion module according to an embodiment of the present disclosure.

[0025] Fig.10 A schematic diagram of the structure of an output module according to an embodiment of the present disclosure.

[0026] Fig.11 Another structural schematic diagram of the image data processing device according to an embodiment of the present disclosure.

[0027] Fig.12 A schematic diagram of the structure of a cache module according to an embodiment of the present disclosure.

[0028] Fig.13 Schematic diagram of another structure of the image data processing device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0030] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0031] As mentioned above, in the HIL test of the ADAS function of the whole vehicle, the image data injection device is mainly used to simulate the vehicle camera, and the image data is injected into the vehicle electronic control unit (ECU) through the device to achieve the purpose of simulation test. However, since the functions of the vehicle electronic control unit are still in a state of gradual improvement, its functions and hardware are updated frequently. If the existing image data injection device wants to match the updated electronic control unit, it needs to be redesigned. Each redesign of the image data injection device requires a lot of manpower, material resources and time, which is not suitable for long-term development. For example, when the electronic control unit replaces the model of the deserialization chip used to process the real camera image data, the image data injection device also needs to be updated accordingly, specifically using the corresponding model of serializer to ensure that the image data injection device can interact smoothly with the updated electronic control unit. However, due to the design method of the existing image data injection device, if the serializer is to be replaced, the design of the entire image data injection device needs to be updated, and the update cost is equivalent to redesigning. In addition, the update efficiency is also lower, which is not conducive to timely responding to the verification requirements of the new functions of the electronic control unit.

[0032] Based on the above, the embodiments of the present disclosure provide an image data injection device and a semi-physical simulation test system, which can solve or improve the above-mentioned problem of being unable to respond to the new function verification requirements of the electronic control unit in a timely manner due to the high update cost and low update efficiency of the existing image data injection device.

[0033] See also Figure 1 , Figure 1 A schematic diagram of the structure of a semi-physical simulation test system according to an embodiment of the present disclosure.

[0034] As shown in the figure, the semi-physical simulation test system 10 includes: an electronic control unit 200, a host computer 300, and at least one image data injection device 100. One or more image data injection devices 100 can be set between the electronic control unit 200 and the host computer 300, and each image data injection device 100 is respectively connected to the host computer 300 and the electronic control unit 200, and is used to receive the configuration data of the electronic control unit 200 and the unprocessed image data configured by the host computer 300. Each image data injection device 100 converts the image data into at least one channel of target image data according to the configuration data, and outputs at least one channel of target image data to the electronic control unit 200 in a serial manner. The image data entering the electronic control unit 200 is first deserialized by the deserialization chip inside it, and then enters the subsequent unit to complete the subsequent data analysis and function verification.

[0035] See also Figures 2 to 5 , is a schematic diagram of the structure of the image data injection device 100 according to an embodiment of the present disclosure.

[0036] As shown in the figure, the image data injection device 100 includes: at least one image data processing device 110 and at least one signal conversion device 120. At least one image data injection device 100 is connected to the electronic control unit 200 through at least one signal conversion device 120 to inject target image data into the electronic control unit 200. Each image data processing device 110 is used to receive unprocessed image data and convert the image data into at least one channel of target image data. At least one signal conversion device 120 is connected to the image data processing device 110 to convert at least one channel of target image data into serial data and output it to the electronic control unit 200, so that the target image data can be deserialized and used by the electronic control unit 200.

[0037] Exemplarily, the image data injection device 100 may include an image data processing device 110 and a signal conversion device 120, wherein the signal conversion device 120 performs serialization processing on one or more target image data outputted by the image data processing device 110, such as Figure 2 It may also include a plurality of image data processing devices 110 and a signal conversion device 120, wherein the signal conversion device 120 performs serial processing on one or more target image data outputted by the plurality of image data processing devices 110, such as Figure 3 It can also include an image data processing device 110 and multiple signal conversion devices 120, and the multiple signal conversion devices 120 respectively perform serialization processing on multiple channels of target image data output by an image data processing device 110, such as Figure 4 As a possible implementation, the image data injection device 100 may also include a plurality of image data processing devices 110 and a plurality of signal conversion devices 120. In this case, each signal conversion device 120 may perform serialization processing on at least one channel of target image data output by at least one image data processing device 110. Figure 5 shown.

[0038] Based on the above, the image data injection device of the embodiment of the present disclosure splits the part with image data processing function and the part with data serial output function, which were originally designed in an integrated manner, into two independent devices, namely, the image data processing device 110 and the signal conversion device 120. Among them, the signal conversion device 120 mainly plays the role of data serial output. After adopting this design, if the function or model of the deserialization chip used for deserialization in the electronic control unit 200 changes, the image data injection device 100 can be updated by only updating the design of the signal conversion device 120, without changing the entire image data injection device 100, which simplifies the update process of the image data injection device 100.

[0039] Figure 6 Schematic diagram of a structure of a signal conversion device 120 according to an embodiment of the present disclosure.

[0040] The signal conversion device 120 includes: a housing 121 having a cavity, a signal conversion circuit (not shown in the figure), and the signal conversion circuit is arranged in the cavity of the housing 121. The signal conversion device 120 also includes a data interface connector 122 and a coaxial cable connector 123 respectively connected to the signal conversion circuit.

[0041] Among them, the signal conversion device 120 is connected to the image data processing device 110 through the data interface connector 122, and at least one channel of target image data enters the signal conversion circuit through the data interface connector 122. The signal conversion circuit includes: at least one serializer (not shown in the figure) and at least one power chip (not shown in the figure). The serializer is used to convert at least one channel of target image data into serial data, and the model of the serializer matches the model of the deserialization chip of the electric control unit 200. The power chip is used to power at least one serializer. The signal conversion device 120 is connected to the electric control unit 200 through the coaxial cable connector 123, and the serial data enters the electric control unit 200 through the coaxial cable connector 123, so that the deserialization chip of the electric control unit 200 can deserialize the received serial data.

[0042] It can be seen that the signal conversion device 120 of the embodiment of the present disclosure has a simple structure. When the electronic control unit 200 replaces or updates its deserialization chip, only the signal conversion device 120 needs to be replaced or updated, without replacing the entire image data injection device 100. This method fully simplifies the process of equipment upgrades.

[0043] Figure 7 FIG. 1 is a structural diagram of an image data processing device 110 according to an embodiment of the present disclosure.

[0044] As shown in the figure, the image data processing device 110 includes: a decoding module 112 , an online configuration module 111 , a format conversion module 113 , and an output module 114 .

[0045] Specifically, the decoding module 112 is connected to the external host computer 300, and is used to receive the unprocessed image data configured by the host computer 300, and decode the image data. The online configuration module 111 is respectively connected to the host computer 300, the signal conversion device 120, the format conversion module 113, and the output module 114, and is used to receive the online configuration information configured by the host computer 300, and perform corresponding operations based on the instructions issued by the electronic control unit 200. The format conversion module 113 is connected to the decoding module 112, and is used to perform format conversion on the decoded image data based on the online configuration information. The output module 114 is connected to the electronic control unit 200, and is used to process the format-converted image data into target image data based on the online configuration information configured by the host computer 300 and the instructions issued by the electronic control unit 200, and output the target image data to the signal conversion device 120.

[0046] When multiple channels of target image data enter the signal conversion device 120, the signal conversion device 120 can transmit the multiple channels of target image data to the electronic control unit 200 in the form of serial data, so that the electronic control unit 200 can analyze the image data, such as image processing and target recognition, and control the vehicle to perform corresponding actions according to the analysis results.

[0047] In the above embodiment, if the image data injection device 100 of the disclosed embodiment needs to be updated accordingly due to the use of other types of deserialization chips in the electronic control unit 200, the developer of the device can directly change the design of the signal conversion device 120 in the device without changing the entire image data injection device 100. Compared with the image data processing device 110 with a more complex electronic structure, the signal conversion device 120 has a simpler structure and is easier to quickly update, which helps save development costs.

[0048] Figure 8 1 is a structural diagram of the online configuration module 111 according to an embodiment of the present disclosure.

[0049] As shown in the figure, the online configuration module 111 includes: an online communication unit 1111, an online configuration control unit 1112, a configuration data storage unit 1113, and an IIC transceiver unit 1114 which are connected in sequence.

[0050] Specifically, the online communication unit 1111 also communicates with the host computer 300, and the host computer 300 writes the online configuration information and lighting parameters into the configuration data storage unit 1113 through the online communication unit 1111, wherein the online configuration information is the configuration information of the vehicle-mounted camera, such as the format, resolution, frame rate and other information of the pixel data that can be output by the real vehicle-mounted camera, and the lighting parameters are the working parameters of the vehicle-mounted camera when it is working normally. The online configuration control unit 1112 reads the online configuration information from the configuration data storage unit 1113, and controls the format conversion module 113 and the output module 114 based on the online configuration information.

[0051] The IIC transceiver unit 1114 also communicates with the electronic control unit 200 through the signal conversion device 120, and the IIC transceiver unit 1114 receives instructions issued by the electronic control unit 200, such as output instructions. The electronic control unit 200 reads the lighting parameters in the configuration data storage unit 1113 through the IIC transceiver unit 1114 to simulate the initialization configuration of the vehicle-mounted camera. IIC is an integrated circuit bus, and the IIC transceiver unit 1114 is a digital logic circuit used to realize hardware communication between electronic devices. In the IIC bus, one is the SDA (Serial Data) line, which is the data signal line, and the other is the SCK (Continuous Serial clock) line, which is the clock signal line. The IIC bus is widely used in industries, automobiles, household appliances, communications, and computers.

[0052] Fig. 9 1 is a schematic diagram of the structure of the format conversion module 113 according to an embodiment of the present disclosure.

[0053] As shown in the figure, the format conversion module 113 includes: a flow distribution unit 1131 , a pixel format conversion unit 1132 , and a pixel format selection unit 1133 .

[0054] The shunt unit 1131 is used to shunt the decoded image data into multiple channels, and output the multiple channels of image data to the pixel format conversion unit 1132. The pixel format conversion unit 1132 is used to convert the format of the pixel data in the multiple channels of image data. The pixel format selection unit 1133 is used to select the image data with pixel data of the corresponding format for output based on the online configuration information. The shunt unit 1131 can be a digital circuit for separating and outputting the input data in different formats. In the format conversion process, the shunt unit 1131 is usually used to divide and process the data of different formats according to specific conditions, while ensuring the correctness and stability of the data. The pixel format conversion unit 1132 is used to convert the format of the pixel data in the multiple image data. The image sensor can usually output the image pixel data in the three formats of RAW_DATA, YUV, and RGB. The data in the RAW_DATA format is the data directly output by the image sensor after the photoelectric conversion and the sampling by the analog-to-digital converter, which represents the intensity of various lights received by the image sensor. The data in the RGB format is the data representing the specific color by the combination of different brightness values ​​of the three primary colors. The data in the YUV format is a combination of brightness data and chrominance data. The pixel format selection unit 1133 is used to select image data with pixel data of a corresponding format for output based on the online configuration information.

[0055] Fig.10 Schematic diagram of the structure of the output module 114 according to the embodiment of the present disclosure.

[0056] As shown in the figure, the output module 114 includes: a timing generation unit 1141 and a timing output unit 1142. The timing generation unit 1141 is used to generate the output timing of the image data based on the online configuration information. The timing output unit 1142 is used to process the format-converted image data into target image data based on the output timing, and output it to the signal conversion device 120.

[0057] Specifically, the timing generation unit 1141 is a digital logic circuit for generating timing signals according to specific rules and conditions. The timing generation unit 1141 plays a very important role in digital systems and is often used to generate clock signals, reset signals, address signals, control signals, etc. In some embodiments of the present disclosure, the timing generation unit 1141 is used to generate the output timing of image data based on the above-mentioned online configuration information, and the timing output unit 1142 processes the format-converted image data into target image data based on the above-mentioned output timing. The format of the target image data meets the format requirements of the electronic control unit 200, for example, the frame rate and resolution of the target image data are consistent with the frame rate and resolution of the image that can be output by the real vehicle-mounted camera.

[0058] Fig.11FIG. 1 is another structural diagram of the image data processing device 110 according to an embodiment of the present disclosure.

[0059] As shown in the figure, the image data processing device 110 further includes a cache module 115. The cache module 115 is connected to the decoding module 112 and is used to cache the decoded image data to ensure the integrity of the video data and avoid the inconsistency between the input data bandwidth and the output data bandwidth.

[0060] Specifically, see Fig.12 The cache module 115 includes: a frame cache control unit 1151 and a frame cache unit 1152. The frame cache control unit 1151 is used to receive decoded image data, write the decoded image data into the frame cache unit 1152, and read and output the decoded image data from the frame cache unit 1152.

[0061] Fig.13 FIG. 1 is another structural diagram of the image data processing device 110 according to an embodiment of the present disclosure.

[0062] As shown in the figure, the image data processing device 110 also includes: a scaling module 116. The scaling module 116 is connected to the cache module 115, the format conversion module 113, and the online configuration module 111 respectively, and is used to adjust the resolution of the decoded image data based on the online configuration information. Specifically, the scaling module 116 can obtain the resolution of the video output by the real vehicle-mounted image sensor from the online configuration information according to the online configuration information sent by the host computer 300 received when the online configuration module 111 establishes communication with the host computer 300, and adjust the resolution of the output video to be consistent with the resolution of the video output by the real vehicle-mounted image sensor, and output the adjusted video data to the format conversion module 113.

[0063] For the image data injection device 100 in this embodiment, the host computer 300 configures the online configuration information and lighting parameters through the online communication unit 1111, and the electronic control unit 200 reads the lighting parameters in the configuration data storage unit 1113 through the IIC transceiver unit 1114 to simulate the initialization configuration process of the real vehicle-mounted camera. The online configuration control unit 1112 reads the above-mentioned online configuration information from the configuration data storage unit 1113, and controls the zoom module 116 to adjust the resolution of the image data based on the online configuration information, controls the format conversion module 113 to convert the format of the pixel data in the image data, and controls the output module 114 to output image data that matches the output of the real vehicle-mounted camera. At the same time, the IIC transceiver unit 1114 communicates with the electronic control unit 200 based on the IIC bus protocol, receives the output instruction issued by the electronic control unit 200, and controls the output module 114 to output image data to the electronic control unit 200 based on the output instruction, thereby realizing the output simulation of the vehicle-mounted camera.

[0064] Various embodiments of the present disclosure have been described above, but it should be understood that the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the described embodiments, any modifications, equivalent substitutions, improvements, etc. made by ordinary technicians in this technical field should be included in the scope of protection of this disclosure. The selection of terms used in this article is intended to best explain the principles, practical applications or technical improvements in the market of each embodiment, or to enable other ordinary technicians in this technical field to understand the various embodiments disclosed herein.

Claims

1. An image data injection device, characterized in that: The image data injection device comprises: at least one image data processing device and at least one signal conversion device, at least one of the image data injection devices is connected to the electronic control unit through at least one of the signal conversion devices to inject target image data into the electronic control unit; wherein, Each of the image data processing devices is used to convert image data into at least one channel of target image data; At least one of the signal conversion devices is connected to the image data processing device, and is used to convert at least one channel of the target image data into serial data and output it to the electronic control unit, so that the target image data can be deserialized and used by the electronic control unit.

2. The image data injection device according to claim 1, characterized in that: The signal conversion device comprises: A housing having a cavity; a signal conversion circuit disposed in the cavity of the housing; and a data interface connector and a coaxial cable connector respectively connected to the signal conversion circuit; wherein, The signal conversion device is connected to the image data processing device via the data interface connector, and at least one channel of the target image data enters the signal conversion circuit via the data interface connector; The signal conversion circuit includes: at least one serializer and at least one power chip; the serializer is used to convert at least one channel of the target image data into serial data, and the model of the serializer matches the model of the deserializer of the electronic control unit; the power chip is used to supply power to at least one of the serializers; The signal conversion device is connected to the electronic control unit via the coaxial cable connector, and the serial data enters the electronic control unit via the coaxial cable connector, so that the deserializer of the electronic control unit can deserialize the received serial data.

3. The image data injection device according to claim 2, characterized in that: The image data processing device comprises: a decoding module, an online configuration module, a format conversion module, and an output module; The decoding module is connected to an external host computer, and is used to receive the image data configured by the host computer and decode the image data; The online configuration module is connected to the host computer, the signal conversion device, the format conversion module, and the output module respectively, and is used to receive the online configuration information configured by the host computer, and perform corresponding operations based on the instructions issued by the electronic control unit; The format conversion module is connected to the decoding module and is used to perform format conversion on the decoded image data based on the online configuration information; The output module is connected to the electronic control unit, and is used to process the format-converted image data into the target image data based on the online configuration information and the instruction, and output the target image data to the signal conversion device.

4. The image data injection device according to claim 3, characterized in that: The online configuration module comprises: an online communication unit, an online configuration control unit, a configuration data storage unit, and an IIC transceiver unit connected in sequence; The online communication unit also communicates with the host computer, and the host computer writes the online configuration information and lighting parameters into the configuration data storage unit through the online communication unit, wherein the online configuration information is the configuration information of the vehicle-mounted camera, and the lighting parameters are the working parameters of the vehicle-mounted camera when it works normally; The online configuration control unit reads the online configuration information from the configuration data storage unit, and controls the format conversion module and the output module based on the online configuration information; The IIC transceiver unit also communicates with the electronic control unit through the signal conversion device, the IIC transceiver unit receives the instruction issued by the electronic control unit, and the electronic control unit reads the lighting parameters in the configuration data storage unit through the IIC transceiver unit to simulate the initialization configuration of the vehicle-mounted camera.

5. The image data injection device according to claim 4, characterized in that: The format conversion module includes: a shunting unit, a pixel format conversion unit, and a pixel format selection unit; The shunting unit is used to shunt the decoded image data into multiple channels, and output the multiple channels of image data to the pixel format conversion unit; The pixel format conversion unit is used to convert the format of pixel data in the multiple channels of image data; the pixel format selection unit is used to select image data with pixel data of corresponding format for output based on the online configuration information.

6. The image data injection device according to claim 4, characterized in that: The output module includes: a timing generation unit and a timing output unit; The timing generation unit is used to generate the output timing of the image data based on the online configuration information; The timing output unit is used to process the format-converted image data into the target image data based on the output timing, and output the target image data to the signal conversion device.

7. The image data injection device according to claim 4, characterized in that: The image data processing device further includes: a cache module; The cache module is connected to the decoding module and is used for caching the decoded image data.

8. The image data injection device according to claim 7, characterized in that: The cache module includes: a frame cache control unit and a frame cache unit; The frame buffer control unit is used to receive the decoded image data, write the decoded image data into the frame buffer unit, and read and output the decoded image data from the frame buffer unit.

9. The image data injection device according to claim 7, characterized in that: The image data processing device further includes: a scaling module; The scaling module is connected to the cache module, the format conversion module and the online configuration module respectively, and is used to adjust the resolution of the decoded image data based on the online configuration information.

10. A semi-physical simulation test system, characterized in that: The semi-physical simulation test system comprises: an electronic control unit, a host computer, and at least one image data injection device according to any one of claims 1 to 9; Each of the image data injection devices is respectively connected to the host computer and the electronic control unit, and is used to receive the configuration data of the electronic control unit and the image data configured by the host computer. Each of the image data injection devices converts the image data into at least one channel of target image data according to the configuration data, and outputs at least one channel of the target image data in a serial manner to the electronic control unit.

Images