Electronic control unit evaluation device and electronic control unit evaluation procedure

Abstract

The following are provided: a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element, captured using a predefined vehicle simulation model; a video processing unit that outputs the verification video to an electronic control unit based on a video synchronization signal output by an imaging element; and a time setting unit that sets a time to start drawing the verification video based on the video synchronization signal and information regarding a drawing time output by the verification video drawing unit.

Description

Technical field

[0001] The present invention relates to an electronic control unit evaluation device and an electronic control unit evaluation method for simulating a state in which a vehicle equipped with an electronic control unit connected to an imaging element is driving on a road. State of the art

[0002] In recent years, driver assistance systems and autonomous driving systems have been actively researched to create a safe and comfortable automotive society. In the future, increasing levels of autonomous driving will necessitate the development of complex vehicle control logics that encompass environments such as highway on-ramps and right or left turns at intersections. Furthermore, validation assessments are expected to require a large number of test cases to validate this complex control logic as the level of autonomous driving increases. Current verification assessments primarily rely on actual vehicle driving evaluations.However, since the number of test steps in the future will be enormous and it will be difficult to perform the evaluation by only one test using an actual vehicle (described as a real vehicle), it is common to use a simulation such as HILS (Hardware In the Loop Simulator).

[0003] The HILS is a tool for evaluating an actual control system in a virtual world by using an actual object as a control target to be evaluated, modeling other vehicle elements as the control target, and constructing an electronic control unit evaluation device by combining these, and, for example, a technique described in PTL 1 is known.

[0004] To construct the HILS (High-Intensity Assist System) using the control target, which performs a calculation based on various types of sensor information, it is necessary to provide the sensor information to the control target at a time requested by the control target. If the control target is a camera system, it is necessary to input a video signal into the camera system's ECU (Electronic Control Unit) at the moment when an imaging element of the camera system releases the shutter. Since an actual video signal cannot be input, the HILS requires input of a virtual video (verification video) generated by computer graphics (CG). Essentially, the camera system contains the imaging element, such as a CMOS sensor, as a sensor, and the imaging element captures a video of the vehicle's external environment and provides information to the camera ECU, which is the control target. List of citations from patent literature

[0005] PTL 1: WO 2022 / 259608 A Summary of the invention; Technical task

[0006] However, with increasing graphics card performance, the generation time of the verification video at the time of output (for example, a CG video) becomes shorter and shorter compared to the timing required by the camera system in an electronic control unit-evaluation device described in PTL 1. Traditionally, in a case where verification video generation is performed multiple times within the processing time of the electronic control unit-evaluation device, frame loss of the verification video occurs between video synchronization signals due to a time difference between the video synchronization signal from the imaging element of the camera system and the verification video generation.

[0007] Given the above situation, there was a need for a technique to prevent image loss of a verification video between video synchronization signals due to a time difference between the video synchronization signal from an imaging element of a camera system and the verification video generation. Solution to the task

[0008] To solve the above problem, an electronic control unit evaluation device according to one aspect of the present invention is an electronic control unit evaluation device that evaluates an electronic control unit connected to an imaging element and processing a video signal, and comprises: a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element acquired using a predetermined vehicle simulation model; a video processing unit that outputs the verification video to the electronic control unit based on a video synchronization signal output by the imaging element;and a time setting unit that sets a time to start drawing the verification video based on the video synchronization signal and information regarding a drawing time output by the verification video drawing unit. Advantageous effects of the invention

[0009] According to at least one aspect of the present invention, it is possible to prevent the image loss of the verification video between the video synchronization signals due to the time difference between the video synchronization signal from the imaging element of the camera system and the verification video generation.

[0010] Tasks, designs and effects that differ from those described above are clarified by the following description of embodiments. Brief description of the drawings Fig. Figure 1 is a block diagram representing an exemplary embodiment of an electronic control unit evaluation device according to a first embodiment of the present invention. Fig. Figure 2 is a diagram that represents an exemplary hardware configuration of a computer contained in the electronic control unit evaluation device. Fig. Figure 3 is a flowchart illustrating an exemplary operation of a conventional electronic control unit evaluation device. Fig. Figure 4 is a timing diagram illustrating an exemplary operation of the conventional electronic control unit evaluation device. Fig. Figure 5 is a flowchart illustrating an exemplary operation of the electronic control unit evaluation device according to the first embodiment of the present invention. Fig. Figure 6 is a time sequence diagram illustrating an exemplary operation of the electronic control unit evaluation device according to the first embodiment of the present invention. Fig. Figure 7 is a flowchart illustrating an exemplary operation of an electronic control unit evaluation device according to a second embodiment of the present invention. Fig. Figure 8 is a time sequence diagram illustrating an exemplary operation of the electronic control unit evaluation device according to the second embodiment of the present invention. Fig. Figure 9 is a diagram that illustrates a functional example of a timing setting unit in an electronic control unit evaluation device according to a third embodiment of the present invention. Fig. Figure 10 is a block diagram illustrating an exemplary embodiment of an electronic control unit evaluation device using a stereo camera system according to a fourth embodiment of the present invention. Fig. Figure 11 is a block diagram illustrating an exemplary embodiment of an electronic control unit evaluation device using a multi-camera system according to a fifth embodiment of the present invention. Description of the embodiments

[0011] Exemplary embodiments of the present invention (hereinafter referred to as "embodiments") are described below with reference to the accompanying drawings. In this description and the accompanying drawings, the same components or components having essentially the same function are designated by the same reference numerals, thus avoiding redundant descriptions. Furthermore, in cases where there is a plurality of constituent elements having the same or similar functions, a description can be given by adding different indices to the same reference numeral. <Erste Ausführungsform>

[0012] First, an embodiment of an electronic control unit evaluation device according to a first embodiment of the present invention is described with reference to Fig. 1 described.

[0013] Fig. Figure 1 is a block diagram representing an exemplary embodiment of the electronic control unit evaluation device according to the first embodiment of the present invention. Fig. Figure 1 represents an exemplary embodiment of the electronic control unit evaluation device with a verification video output time-lapse control function.

[0014] As in Fig. Figure 1 shows an environment for evaluating an electronic control unit 2 to be evaluated, comprising an imaging element 1, a vehicle simulation model 3, a verification video drawing unit 4, a video processing unit 5, and a timing unit 6. The imaging element 1 and the electronic control unit 2 form a camera system 10 (monocular camera system). The vehicle simulation model 3, the verification video drawing unit 4, the video processing unit 5, and the timing unit 6 are stored in an electronic control unit evaluation device 20.

[0015] The electronic control unit evaluation device 20 is a device (simulator) for simulating a state in which a vehicle, on which the electronic control unit 2 is mounted and which is connected to the imaging element 1, is driving on a road. The electronic control unit evaluation device 20 enables an evaluation of the electronic control unit 2, which is connected to the imaging element 1, under an environment similar to that of a real vehicle. Fig. 1. Processing units are stored in the electronic control unit evaluation device 20, but the processing units can be distributed across a multitude of facilities instead of one facility.

[0016] The imaging element 1 is a sensor that converts light received by a light-receiving surface into an electrical signal. The imaging element 1 has a function for transmitting a video synchronization signal S1 to the electronic control unit 2, the video processing unit 5, and the timing unit 6. In the present invention, it is assumed that the imaging element 1 is mounted on the vehicle. As an example, a sensor, such as a CMOS sensor, is used as the imaging element 1.

[0017] The electronic control unit 2 has a function for receiving the video synchronization signal S1 from the imaging element 1 and a function for receiving a verification video output S5 from the video processing unit 5. Since the verification video output S5 is input into the electronic control unit 2 from the video processing unit 5, the electronic control unit 2 can be evaluated in a virtual environment instead of a conventional video signal output by the imaging element 1.

[0018] Vehicle Simulation Model 3 simulates the behavior of the virtual vehicle, which changes from moment to moment. Vehicle Simulation Model 3 has a function to receive a drawing information request S2 from the verification video drawing unit 4 and a function to transmit position and attitude information S3 to the verification video drawing unit 4. The drawing information request S2 is a command to request information necessary for the verification video drawing unit 4 to draw a verification video. The position and attitude information S3 is information necessary for the verification video drawing unit 4 to draw the verification video and specifies the position and attitude of the mapping element (simulated mapping element) on the virtual vehicle.

[0019] When the drawing information request S2 is entered, the vehicle simulation model 3 transmits the position and attitude information S3 regarding the mapping element on the virtual vehicle at the time of entry to the verification video drawing unit 4. For example, the drawing information request S2 is entered into the vehicle simulation model 3 at a predefined time interval. The vehicle simulation model 3 simulates the behavior of the virtual vehicle in a virtual space at a predefined time interval (for example, an interval of 1 ms). At this time, the vehicle simulation model 3 has a function to calculate the position and attitude of the mapping element on the virtual vehicle according to the behavior of the virtual vehicle.

[0020] The verification video drawing unit 4 has a function for transmitting the drawing information request S2 to the vehicle simulation model 3 and a function for receiving the position and attitude information S3 from the vehicle simulation model 3. Furthermore, the verification video drawing unit 4 has a function for transmitting information S6 regarding a drawing time to the time setting unit 6, a function for receiving drawing setting information S7 from the time setting unit 6, and a function for drawing a verification video S4 and transmitting the verification video S4 to the video processing unit 5. The information S6 regarding the drawing time is, for example, the time (actual value) required to draw the verification video S4, an estimated time (estimate) from the start of drawing the verification video until completion, or similar information.

[0021] The verification video drawing unit 4 generates the verification video S4 based on information from the mapping element specified by the position and attitude information S3. However, instead of immediately transferring the verification video S4 to the video processing unit 5 after generation, it sets a time for outputting the verification video S4 (verification video output S5) based on the drawing setting information S7. The verification video S4 generated by the verification video drawing unit 4 is a video of the virtual vehicle's external environment. It is estimated that the video is actually obtained from the mapping element 1, based on the position and attitude information S3 and an environment map (map data, environmental data of buildings, and the like) (not shown).

[0022] It should be noted that the vehicle simulation model 3 and the verification video drawing unit 4 are preferably mounted on the same hardware to suppress any delay in information transmission. The vehicle simulation model 3 and the verification video drawing unit 4 can be modularized.

[0023] The video processing unit 5 has a function for receiving the video synchronization signal S1 from the imaging element 1, a function for receiving the verification video S4 from the verification video drawing unit 4, and a function for transmitting the verification video output S5 to the electronic control unit 2.

[0024] The video processing unit 5 outputs the verification video S4, received by the verification video drawing unit 4, to the electronic control unit 2 at the same time as the video synchronization signal S1 is input from the mapping element 1 (the verification video output S5). The video processing unit 5 can be configured, for example, using a GPU (Graphics Processing Unit).

[0025] The timing unit 6 has a function for receiving the video synchronization signal S1 from the mapping element 1, a function for receiving the information S6 regarding the drawing time from the verification video drawing unit 4, and a function for transmitting the drawing setting information S7 to the verification video drawing unit 4.

[0026] The timing unit 6 estimates a reception time (an interval) of the video synchronization signal S1, which is periodically received by the imaging element 1, and transmits the drawing setting information S7, such as a delay time, based on the information S6 regarding the drawing time. Since the electronic control unit evaluation device 20 contains the timing unit 6, it is possible to output the verification video S4 (the verification video output S5) at a time according to the imaging element 1. [Computer hardware configuration]

[0027] Here, a hardware design of the electronic control unit evaluation device 20 is described with reference to Fig. 2 described.

[0028] Fig. Figure 2 is a diagram illustrating an exemplary hardware configuration of the computer contained in the electronic control unit evaluation device 20. A computer 30, which is in Fig. Figure 2 is an example of hardware used as a computer. The electronic control unit evaluation device 20 according to the present embodiment implements the evaluation of the electronic control unit 2, which is carried out by the functional blocks shown in Fig. 1 are shown, cooperating with each other through the computer 30, which executes a program.

[0029] The computer 30 comprises a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, and a RAM (Random Access Memory) 33, which are connected to a system bus. The computer 30 also comprises non-volatile memory 34 and a communication interface 35.

[0030] The CPU 31 reads program code from software to implement each function according to the present embodiment from the ROM 32, loads the program code into the RAM 33, and executes the program code. Variables, parameters, and the like generated during the computing operations of the CPU 31 are temporarily written to the RAM 33, and these variables, parameters, and the like are read by the CPU 31 in a suitable manner. For example, the RAM 33 is used to buffer the verification video S4, which is performed by the video processing unit 5. Each function of the electronic control unit-evaluation device 20 is implemented by the CPU 31, which executes the program code read from the ROM 32. However, another processor, such as a microprocessing unit (MPU), can be used instead of the CPU 31.

[0031] Non-volatile memory 34 is an example of a recording medium and can store data used by a program, data obtained by executing the program, and the like. For example, a program of the vehicle simulation model 3 is stored in non-volatile memory 34. Furthermore, an operating system or a program executed by the CPU 31 can be recorded in non-volatile memory 34. Non-volatile memory 34 can be a hard disk drive (HDD), a solid-state drive (SSD), a disk medium that uses light or magnetism, a semiconductor memory card, or the like.

[0032] For example, a communication device such as a NIC (Network Interface Card) is used as the communication interface 35. The communication interface 35 is configured to send and receive various types of data to and from an external device via a communication network such as a LAN or the Internet, to which an end device is connected, a dedicated line, or the like. Communication with the camera system 10 of the electronic control unit-evaluation device 20 described above is implemented using the communication interface 35. [Conventional electronic control unit evaluation device]

[0033] Here, the operation of a conventional electronic control unit evaluation device is described with reference to Fig. 3 and Fig. 4 described.

[0034] Fig. Figure 3 is a flowchart illustrating an exemplary operation of the conventional electronic control unit evaluation device. Here, one embodiment of the conventional electronic control unit evaluation device corresponds to an embodiment in which the timing setting unit 6 is derived from the one in Fig. The electronic control unit evaluation device 20 shown in Figure 1 is deleted. It should be noted that the video synchronization signal S1 is input into the video processing unit 5, but in Fig. 3 is not shown.

[0035] In the case of an electronic control unit evaluation device, to which the present invention is not applied, the verification video drawing unit 4 issues the drawing information request S2 to the vehicle simulation model 3 for drawing a verification video on the vehicle simulation model 3 (acquisition of verification video drawing information). The vehicle simulation model 3 transmits the position and attitude information S3 of a mapping element, which is calculated in a predetermined cycle (for example, 1 ms), when the drawing information request S2 is received from the verification video drawing unit 4.

[0036] Next, the verification video drawing unit 4 draws the verification video S4 based on the position and posture information S3 of the mapping element (drawing the verification video) and sends the verification video S4 to the video processing unit 5 as soon as the drawing is complete. The video processing unit 5 buffers the verification video S4 received from the verification video drawing unit 4.

[0037] After the verification video S4 is output to the video processing unit 5, the verification video drawing unit 4 immediately sends the drawing information request S2 to the vehicle simulation model 3.

[0038] As described above, the drawing information request S2, the drawing of the verification video S4, and the buffering of the verification video S4 are conventionally performed repeatedly. At this point, the electronic control unit 2, which has received the video synchronization signal S1 (received periodically by the imaging element 1), reads the latest verification video S4, which is buffered by the video processing unit 5. In order to output the latest verification video S4 at the time of receiving the video synchronization signal S1 (verification video output S5), a frame loss (hereinafter referred to as frame loss) occurs in the video processing unit 5 if the drawing time of the verification video S4 is short. In the example of Fig. 3. The second verification video S4 is missing (corresponding to single image 2 in). Fig. 4) from the three verification videos S4, which are buffered by the video processing unit 5 without being output to the electronic control unit 2.

[0039] Fig. Figure 4 is a timing diagram illustrating an exemplary operation of the conventional electronic control unit evaluation device.

[0040] In Fig. 4 The verification video drawing unit 4 receives the position and attitude information S3 from the vehicle simulation model 3 and updates information about a position and attitude of the imaging element ((1) Updating camera position information from Fig. 4) Next, the verification video drawing unit 4 draws the verification video S4 based on the information regarding the updated position and attitude of the mapping element ((2) Drawing) and outputs the latest verification video S4 (frame) to the video processing unit 5 at the time the drawing is complete ((4) Completing the drawing). Here, for the third video synchronization signal S1, since the latest verification video S4 for which the drawing has been completed is frame 3, frame 3 is output to the video processing unit 5, and frame 2 is not output and is missing.

[0041] For example, it is assumed that a vehicle is gradually approaching an obstacle. Normally, continuous frames would be acquired at distances of 10 m, 9 m, 8 m, and 7 m from the obstacle. However, due to frame skipping, such as frame 2, frames at these distances are acquired, and some frames are missing. At this point, there is a possibility that the electronic control unit 2 might incorrectly determine that the distance between the vehicle and the object is suddenly decreasing by detecting that the change in distance is not from 10 m to 9 m, but from 10 m to 8 m. Thus, when frame skipping occurs, the actual behavior of a virtual vehicle cannot be accurately simulated. [Electronic control unit evaluation device of the present invention]

[0042] Next, an operation of the electronic control unit evaluation device 20 according to the present embodiment will be described with reference to Fig. 5 and Fig. 6 described.

[0043] Fig. Figure 5 is a flowchart illustrating an exemplary operation of the electronic control unit evaluation device 20. The in Fig. 5 The electronic control unit evaluation device 20 shown contains the timing setting unit 6 in comparison to Fig. 3. It should be noted that the video synchronization signal S1 is input into the video processing unit 5, but in Fig. 5 is not shown.

[0044] The verification video drawing unit 4 repeatedly executes the drawing of the verification video S4 based on the position and posture information S3. The video synchronization signal S1 is input from the mapping element 1 into the timing unit 6. Additionally, the timing unit 6 starts monitoring the drawing completion time of the verification video S4 (monitoring the drawing completion time) when the information S6 regarding the drawing time is input by the verification video drawing unit 4 along with the drawing of the verification video S4. The information S6 regarding the drawing time is input into the timing unit 6 until the verification video drawing unit 4 completes the drawing of the verification video S4 and outputs the verification video S4 to the video processing unit 5.

[0045] When monitoring of the recording completion time is started, the time setting unit 6 calculates a waiting time and inserts it. It should be noted that the time required to draw the verification video is based on the position and attitude information S3 of the image element and the environment map, and varies depending on the amount of information in the verification video S4.

[0046] Next, the timing unit 6 calculates a waiting time until the next video synchronization signal S1 is input, based on the video synchronization signal S1 input from the mapping element 1 and the information S6 regarding the drawing time input from the verification video drawing unit 4 (calculation of the waiting time). Specifically, the timing unit 6 calculates the waiting time until the verification video S4 is output to the video processing unit 5 after the verification video drawing unit 4 has completed drawing the verification video S4. The shorter the time required to draw the verification video S4, the longer the waiting time must be.

[0047] Then the time setting unit 6 transmits information about the waiting time to the verification video drawing unit 4 as the drawing setting information S7 (inserting the waiting time).

[0048] The verification video drawing unit 4 has a function to wait for the output processing of the verification video S4 with respect to the video processing unit 5 for the waiting time specified in the drawing setting information S7, which is entered by the time setting unit 6 (time setting). It waits for a specified time and then completes the drawing. That is, the verification video drawing unit 4 sets a time for completing the drawing according to the drawing setting information S7 and transmits the verification video S4 to the video processing unit 5.

[0049] As described above, the timing setting unit 6 can set a time to start drawing the next verification video by setting the waiting time to wait for the verification video to finish drawing, and can set an output time of the verification video as a result.

[0050] Furthermore, the video processing unit 5 buffers the verification video S4, which is input by the verification video drawing unit 4, and transmits the verification video S4 to the electronic control unit 2 when the video synchronization signal S1 is input from the mapping element 1 (the verification video output S5). Then, after transmitting the verification video S4 to the video processing unit 5, the verification video drawing unit 4 immediately sends the drawing information request S2 to the vehicle simulation model 3.

[0051] As described above, after a waiting period, the verification video drawing unit 4 outputs the verification video to the video processing unit 5 and starts drawing the next verification video.

[0052] Fig. Figure 6 is a time sequence diagram illustrating an exemplary operation of the electronic control unit evaluation device 20.

[0053] In Fig. 6 The verification video drawing unit 4 receives the position and attitude information S3 from the vehicle simulation model 3 and updates information about a position and attitude of the imaging element ((1) Updating camera position information from Fig. 6) Next, the verification video drawing unit 4 draws the verification video S4 based on information regarding the position and attitude of the mapping element ((2) Draw), and after completing the drawing of the verification video S4, the verification video drawing unit 4 waits for the waiting time according to the drawing setting information S7 ((3) Wait to complete).

[0054] Then, when the waiting time has elapsed, the verification video drawing unit 4 outputs the drawn verification video S4 to the video processing unit 5. In parallel with the output of the verification video S4, the verification video drawing unit 4 receives the position and attitude information S3 from the vehicle simulation model 3 and updates information about a position and attitude of the imaging element ((1) Update camera position information).

[0055] The video processing unit 5 outputs the latest buffered verification video S4 to the electronic control unit 2 at the time of receiving the video synchronization signal S1 (the verification video output S5).

[0056] In the present embodiment, by inserting the waiting time after the verification video drawing unit 4 draws the verification video S4 in order to control the timing of the output of the verification video S4 to the video processing unit 5, the verification video S4 can be output to the electronic control unit 2 according to the video synchronization signal S1 (the verification video output S5).

[0057] As described above, the electronic control unit evaluation device according to the first embodiment is an electronic control unit evaluation device according to one aspect of the present invention, which evaluates an electronic control unit connected to an imaging element and processes a video signal, and comprises: a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element acquired using a predefined vehicle simulation model; a video processing unit that outputs the verification video to the electronic control unit based on a video synchronization signal output by the imaging element;and a time setting unit that sets a time to start drawing the verification video based on the video synchronization signal and information regarding a drawing time output by the verification video drawing unit.

[0058] The electronic control unit evaluation device according to the present embodiment described above has a function for estimating a request interval from the video synchronization signal by which a camera system requests a verification video, and a function for setting the time until the generation of the verification video is completed (that is, until the verification video is output), based on the estimated request interval.

[0059] The electronic control unit evaluation device according to the present embodiment estimates the time at which the camera system (the electronic control unit) requests the verification video and sets a time to start drawing the verification video in order to establish an output time for the verification video. As a result, the electronic control unit evaluation device according to the present embodiment can cope with changes in the drawing time of the verification video and can output the video in successive frames. Therefore, the electronic control unit evaluation device according to the present embodiment can prevent frame loss of the verification video between video synchronization signals due to a time difference between the video synchronization signal from the imaging element of the camera system and the verification video generation. <Zweite Ausführungsform>

[0060] Next, an electronic control unit evaluation device according to a second embodiment of the present invention is described with reference to Fig. 7 and Fig. 8 described. An embodiment of the electronic control unit evaluation device according to the present embodiment can be the same as the embodiment of the electronic control unit evaluation device 20 according to the one described in Fig. 1 first embodiment shown.

[0061] Fig. Figure 7 is a flowchart illustrating an exemplary operation of the electronic control unit evaluation device according to the present embodiment. The diagram shown in Fig. The flowchart shown in section 7 differs from the one in Fig. 5 flowchart shown according to the first embodiment, in that the verification video drawing unit 4 uses a signal indicating permission to complete the drawing.

[0062] The timing unit 6 calculates a waiting time until the next video synchronization signal S1 is input, based on the video synchronization signal S1 input by the mapping element 1 and the information S6 regarding a drawing time input by the verification video drawing unit 4 (calculation of waiting time). The timing unit 6 then transmits information about the waiting time to the verification video drawing unit 4 as the drawing setting information S7 (insertion of waiting time).

[0063] The verification video drawing unit 4 has a function to wait for the output processing of the verification video S4 with respect to the video processing unit 5 for the waiting time specified in the drawing setting information S7, which is entered by the time setting unit 6 (time setting). It waits for a specified time and then completes the drawing. Here, the verification video drawing unit 4 can notify the video processing unit 5 of status information indicating that the drawing of the verification video S4 is complete (completion of the verification video drawing). The verification video drawing unit 4 outputs the verification video S4 to the video processing unit 5 along with the status information.With this configuration, the video processing unit 5 can reliably detect that the verification video drawing unit 4 has completed drawing the verification video S4, and can execute the verification video output S5.

[0064] As described above, the verification video drawing unit 4 has a function to transmit the message about the completion of the verification video drawing (status information) to the video processing unit 5 after a waiting period has elapsed.

[0065] Fig. Figure 8 is a timing diagram illustrating an exemplary operation of the electronic control unit evaluation device according to the present embodiment.

[0066] In Fig. 8 The verification video drawing unit 4 receives the position and attitude information S3 from the vehicle simulation model 3 and updates information about a position and attitude of the imaging element ((1) Updating camera position information from Fig. 6) Next, the verification video drawing unit 4 draws the verification video S4 based on information regarding the position and attitude of the mapping element ((2) Draw), and after completing the drawing of the verification video S4, the verification video drawing unit 4 waits for the waiting time according to the drawing setting information S7 ((3) Wait to complete).

[0067] After the waiting period has elapsed, the verification video drawing unit 4 generates a drawing completion permission signal and outputs the drawn verification video S4 to the video processing unit 5 while the drawing completion permission signal is in an ON state ((4) Completing the drawing). At this point, the verification video drawing unit 4 can notify the video processing unit 5 of the status information indicating the completion of the drawing of the verification video S4 described above.

[0068] In addition, the verification video drawing unit 4 receives the position and attitude information S3 from the vehicle simulation model 3 in parallel with the output of the verification video S4 and updates information about a position and attitude of the imaging element ((1) Update camera position information).

[0069] Then the video processing unit 5 outputs the latest buffered verification video S4 to the electronic control unit 2 at the time of receiving the video synchronization signal S1 (the verification video output S5).

[0070] With the electronic control unit evaluation device according to the above described embodiment, image loss of the verification video between the video synchronization signals due to a time difference between the video synchronization signal from the imaging element of a camera system and the verification video generation can be more reliably prevented. <Dritte Ausführungsform>

[0071] Next, an electronic control unit evaluation device according to a third embodiment of the present invention is described with reference to Fig. 9 described.

[0072] Fig. Figure 9 is a diagram illustrating a functional example of the timing setting unit 6 in the electronic control unit evaluation device 20 according to the present embodiment.

[0073] The imaging element 1 has a function for transmitting the video synchronization signal S1 to the time setting unit 6.

[0074] The verification video drawing unit 4 has a function to transmit the information S6 regarding a varying drawing time to the time setting unit 6. Here, the drawing time is set to Td.

[0075] The timing unit 6 has a function for calculating the drawing setting information S7, which is a waiting time, based on the video synchronization signal S1 from the mapping element 1, the information S6 (drawing time Td) regarding the varying drawing time from the verification video drawing unit 4, a display prohibition time setting Th and a display release time setting Ta, and for outputting the drawing setting information S7 to the verification video drawing unit 4.

[0076] The display prohibition time setting Th is a setting for a time during which the video processing unit 5 is prevented from outputting the verification video S4. The display release time setting Ta is a setting for a time during which the video processing unit 5 is permitted to output the verification video S4. A period length of (4) Completion of drawing in Fig. 8 is set within a range of the display release time setting Ta. A display ban time according to the display ban time setting Th is set between a display release time ((4) Completion of drawing) according to the display release time setting Ta and the video synchronization signal S1. It should be noted that an ON period of a in Fig. The drawing completion release signal shown in section 8 corresponds to the display release time setting Ta.

[0077] The time-setting unit 6 calculates an interval Δt between repeated video synchronization signals S1. The interval Δt between a video synchronization signal V-SYNC(t) at a specific time and a video synchronization signal V-SYNC(t+1) at the next time is V_SYNC(t+1) - V_SYNC(t). Furthermore, the time-setting unit 6 calculates T1 = Δt - Th - Ta as the drawing release time T1.

[0078] Since the drawing time Td, which represents the information from the verification video drawing unit 4, has a duration that varies depending on the descriptions and the situation of a display target, it is necessary to set a waiting time until the completion of the drawing is confirmed at each time by the verification video output S5. The display target is a receiving device of the verification video output S5 and is, for example, the electronic control unit 2 or a display device such as a liquid crystal display (not shown). Therefore, the verification video drawing unit 4 has a function to transmit a value of Tw, calculated by Tw = T1 - Td, as the waiting time Tw to the verification video drawing unit 4. [Internal processing of the time setting unit] • V_SYNC(t+1)−V_SYNC(t)=Δt • Drawing release time T1=Δt-Th-Ta • Calculation of the interruption time (waiting time Tw) before release of the completed drawing: Tw=T1-Td • Setting the interruption time (waiting time) from Tw to the verification video drawing unit 4

[0079] As described above, in the electronic control unit evaluation device according to the present embodiment, if the waiting time Tw is, the interval of the video synchronization signal Δt is, the information regarding the drawing time Td is, a preset display release time of the verification video Ta is, a display release prohibition time of the verification video Th is, and the drawing release time to allow the drawing of the verification video T1 is, the drawing release time T1 is given by T1 = Δt - Th - Ta and the waiting time Tw is given by Tw = T1 - Td.

[0080] With the electronic control unit evaluation device according to the embodiment described above, the waiting time can be flexibly set so that the verification video can be repeatedly output at the interval of the video synchronization signal according to a variation of the drawing time. <Vierte Ausführungsform>

[0081] Fig. Figure 10 is a block diagram illustrating an exemplary embodiment of the electronic control unit evaluation device 20 using a stereo camera system 40 according to a fourth embodiment of the present invention.

[0082] The present embodiment is described below only with respect to sections that differ from those of the first embodiment. The number of imaging elements 1 connected to the electronic control unit 2 is not limited to one. As in Fig. As shown in Figure 10, the electronic control unit-evaluation device 20 itself, in a case where a stereo camera is used to which two imaging elements, i.e., an imaging element 1A and an imaging element 1B, are connected, has a function for setting an output time of the verification video S4. If the imaging element 1A and the imaging element 1B are synchronized with each other, the video synchronization signal S1 of the imaging element 1A or the imaging element 1B can be input into the electronic control unit-evaluation device 20. <Fünfte Ausführungsform>

[0083] Fig. Figure 11 is a block diagram illustrating an exemplary embodiment of an electronic control unit evaluation device 20 using a multi-camera system 50 according to a fifth embodiment of the present invention.

[0084] The present embodiment is described below only with respect to sections that differ from those of the first embodiment. The number of imaging elements 1 connected to the electronic control unit 2 is not limited to one. As in Fig. As shown in Figure 11, the electronic control unit-evaluation device 20 also has a function for setting an output time of the verification video S4 in a case where a multi-camera is used to which three or more imaging elements, i.e., imaging elements 1A, 1B, 1C, and so on, are connected. If the multiple imaging elements 1A, 1B, 1C, and so on are synchronized with each other, the video synchronization signal S1 of any of the imaging elements 1A, 1B, 1C, and so on can be input into the electronic control unit-evaluation device 20.

[0085] It should be noted that the present invention is not limited to the embodiments described above, and it is obvious that various other applications and modifications can be obtained without departing from the core of the present invention as described in the claims. For example, the embodiments described above have been described in detail and specifically to describe the present invention in an easily understandable way, and they are not necessarily limited to those that include all the components described. In addition, part of the design of each of the embodiments can be added to, replaced by, or deleted by other components.

[0086] Furthermore, some or all of the above-described configurations, functions, processing units, and the like can be implemented in hardware, for example, by designing them with an integrated circuit. A processor device in a broad sense, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), can be used as the hardware.

[0087] Furthermore, each component of the electronic control unit evaluation device, according to the embodiments described above, can be implemented in any hardware, as long as the hardware can send and receive information over a network. Additionally, the processing performed by a specific processing unit can be implemented by a single piece of hardware or by distributed processing using a multitude of hardware units.

[0088] Furthermore, control lines and information lines deemed necessary for description are shown in the embodiments described above, and not all control lines and information lines are necessarily represented in the form of products. In practice, it can be assumed that almost all components are interconnected. Reference symbol list 1 mapping element 2 electronic control units 3 Vehicle simulation model 4 Verification video drawing unit 5 Video processing unit 6 Time setting unit 10-camera system 20 electronic control unit-evaluation device 40 stereo camera system 50 multi-camera system S1 Video synchronization signal S2 drawing information request S3 Posture Information S4 verification video S5 Verification Video Output S6 Information regarding drawing time S7 drawing setup information Δt interval of video synchronization signals Tw waiting time QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2022 / 259608 A

[0005]

Claims

[1] Electronic control unit evaluation device that evaluates an electronic control unit connected to an imaging element and processing a video signal, wherein the electronic control unit evaluation device comprises: a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element captured using a predefined vehicle simulation model; a video processing unit that outputs the verification video to the electronic control unit based on a video synchronization signal output by the imaging element; and a time setting unit that sets a time to start drawing the verification video based on the video synchronization signal and information regarding a drawing time output by the verification video drawing unit. [2] Electronic control unit evaluation device according to claim 1, wherein the time setting unit sets a waiting time to wait for the completion of the drawing of the verification video in order to set a time to start drawing a next verification video. [3] Electronic control unit evaluation device according to claim 2, wherein the verification video drawing unit outputs the verification video to the video processing unit and starts drawing the next verification video after a waiting period has elapsed. [4] Electronic control unit evaluation device according to claim 3, wherein where the waiting time is denoted by Tw, an interval of the video synchronization signal is denoted by Δt, the information regarding the drawing time is denoted by Td, a preset display release time of the verification video is denoted by Ta, a display release prohibition time of the verification video is denoted by Th, and a drawing release time to allow the drawing of the verification video is denoted by T1, a drawing release time T1 is obtained by T1 = Δt - Th - Ta, and a waiting time Tw results from Tw = T1- Td. [5] Electronic control unit evaluation device according to claim 3, wherein the verification video drawing unit transmits a message about the completion of the drawing of the verification video to the video processing unit after the waiting time has elapsed. [6] Electronic control unit evaluation device according to claim 1, wherein the imaging element and the electronic control unit form a monocular camera system. [7] Electronic control unit evaluation device according to claim 1, wherein a pair of imaging elements and the electronic control unit form a stereo camera system. [8] Electronic control unit evaluation device according to claim 1, wherein a plurality of the imaging elements and the electronic control unit form a multi-camera system. [9] Electronic control unit evaluation method for evaluating an electronic control unit connected to an imaging element and processing a video signal, the electronic control unit evaluation method comprising: Processing to draw a verification video based on position and attitude information of a simulated imaging element captured using a predefined vehicle simulation model; Processing to output the verification video to the electronic control unit based on a video synchronization signal output by the imaging element; and Processing to set a time to start drawing the verification video based on the video synchronization signal and information regarding a drawing time of the verification video.

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