Evaluation device for electronic control unit and evaluation method for electronic control unit

Abstract

The present invention comprises: a verification video drawing unit that draws a verification video on the basis of position and orientation information about a simulated imaging element acquired by using a predetermined vehicle simulation model; a video processing unit that outputs the verification video to an electronic control unit on the basis of a video synchronization signal output from the imaging element; and a timing adjustment unit that adjusts the timing at which drawing of the verification video is started on the basis of the video synchronization signal and information pertaining to a drawing time output from the verification video drawing unit.

Description

Apparatus and method for evaluating electronic control units

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

[0002] In recent years, research into driver assistance systems and autonomous driving systems has been active in order to realize a safe and comfortable automobile society. As the level of autonomous driving improves in the future, it will become necessary to develop complex control logic that takes into account the surrounding environment, such as merging onto highways and turning right and left at intersections. Regarding verification and evaluation, it is predicted that as the level of autonomous driving increases, a huge number of test cases will be required to verify the complex control logic. Currently, verification and evaluation are mainly carried out using actual vehicle driving evaluations, but in the future, the amount of testing work will become enormous, making it difficult to evaluate using only tests using actual vehicles (hereinafter referred to as actual vehicles). Therefore, it is becoming common to use simulations such as HILS (Hardware In the Loop Simulator).

[0003] HILS is a tool that evaluates an actual control system in a virtual world by using actual controlled objects to be evaluated, modeling other vehicle elements, and combining these to construct an evaluation device for an electronic control unit. For example, the technology described in Patent Document 1 is known.

[0004] When constructing a HILS using a control object that performs calculations based on various sensor information, it is necessary to provide the sensor information to the control object at the timing required by the control object. If the control object is a camera system, it is necessary to input images to the camera system's camera ECU (electronic control unit) at the timing when the camera system's image sensor releases the shutter. Since HILS cannot input actual images, it is necessary to input virtual images (verification images) created using CG (computer graphics). A camera system normally has an image sensor such as a CMOS as a sensor, which captures images of the environment outside the vehicle and provides information to the camera ECU, which is the control object.

[0005] International Publication No. 2022 / 259608

[0006] However, in the evaluation device for an electronic control unit described in Patent Document 1, the generation time of the verification video (e.g., CG video) when outputting the verification video has become shorter than the timing required by the camera system due to the improvement in the performance of the graphic board. Conventionally, when the generation of the verification video is executed multiple times within the processing time of the evaluation device performance of the electronic control unit, a timing difference between the video synchronization signal from the imaging element of the camera system and the generation of the verification video causes frame loss of the verification video between the video synchronization signals.

[0007] Given the above situation, there has been a demand for a method for preventing frame loss of the verification video between the video synchronization signals due to a timing discrepancy between the video synchronization signal from the imaging element of the camera system and the generation of the verification video.

[0008] In order 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 that is connected to an imaging element and handles video signals, and is equipped with a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element obtained 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 from the imaging element, and a timing adjustment unit that adjusts the timing to start drawing the verification video based on the video synchronization signal and information regarding the drawing time output from the verification video drawing unit.

[0009] According to at least one aspect of the present invention, it is possible to prevent frame loss of the verification video between the video synchronization signals due to a time difference between the video synchronization signal from the image sensor of the camera system and the generation of the verification video. Problems, configurations, and effects other than those described above will become clear from the description of the following embodiments.

[0010] FIG. 1 is a block diagram showing an example of the configuration of an electronic control unit evaluation device according to a first embodiment of the present invention. FIG. 2 is a diagram showing an example of the hardware configuration of a computer provided in the electronic control unit evaluation device. FIG. 3 is a sequence chart showing an example of the operation of a conventional electronic control unit evaluation device. FIG. 4 is a timing chart showing an example of the operation of a conventional electronic control unit evaluation device. FIG. 5 is a sequence chart showing an example of the operation of an electronic control unit evaluation device according to a first embodiment of the present invention. FIG. 6 is a timing chart showing an example of the operation of an electronic control unit evaluation device according to a second embodiment of the present invention. FIG. 7 is a diagram showing an example of the function of a timing adjustment unit in an electronic control unit evaluation device according to a third embodiment of the present invention. FIG. 8 is a block diagram showing an example of the configuration of an electronic control unit evaluation device using a stereo camera system according to a fourth embodiment of the present invention. FIG. 9 is a block diagram showing an example of the configuration of an electronic control unit evaluation device using a multi-camera system according to a fifth embodiment of the present invention.

[0011] Hereinafter, examples of modes for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the accompanying drawings. In this specification and the accompanying drawings, identical components or components having substantially the same functions are designated by the same reference numerals, and redundant explanations will be omitted. Furthermore, when there are multiple components having the same or similar functions, they may be described by designating the same reference numerals with different subscripts.

[0012] First Embodiment First, the configuration of an evaluation device for an electronic control unit according to a first embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of an evaluation device for an electronic control unit according to a first embodiment of the present invention. Fig. 1 shows an example of the configuration of an evaluation device for an electronic control unit that has a function of controlling the output timing of a verification video.

[0013] 1, the environment for evaluating an electronic control unit 2 to be evaluated comprises an image sensor 1, a vehicle simulation model 3, a verification image rendering unit 4, an image processing unit 5, and a timing adjustment unit 6. The image sensor 1 and the electronic control unit 2 constitute a camera system 10 (monocular camera system). The vehicle simulation model 3, the verification image rendering unit 4, the image processing unit 5, and the timing adjustment unit 6 are stored in an evaluation device 20 for the electronic control unit.

[0014] The electronic control unit evaluation device 20 is a device (simulator) for simulating the state in which a vehicle equipped with the electronic control unit 2 connected to the imaging device 1 travels on a road. The electronic control unit evaluation device 20 enables evaluation of the electronic control unit 2 connected to the imaging device 1 in an environment similar to that of an actual vehicle. In FIG. 1 , each processing unit is stored in the electronic control unit evaluation device 20, but each processing unit may be distributed across multiple devices rather than being located in a single device.

[0015] The imaging element 1 is a sensor that converts light received on its light receiving surface into an electrical signal. The imaging element 1 has a function of transmitting a video synchronization signal S1 to an electronic control unit 2, a video processing unit 5, and a timing adjustment unit 6. In the present invention, it is assumed that the imaging element 1 is mounted on a vehicle. As an example, a sensor such as a CMOS is used for the imaging element 1.

[0016] The electronic control unit 2 has a function of receiving a video synchronization signal S1 from the imaging element 1 and a function of receiving a verification video output S5 from the video processing unit 5. By inputting the verification video output S5 from the video processing unit 5 to the electronic control unit 2 instead of the video signal output from the conventional imaging element 1, it becomes possible to evaluate the electronic control unit 2 in a virtual environment.

[0017] The vehicle simulation model 3 simulates the behavior of the virtual vehicle, which changes every moment. The 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 the verification video. The position and attitude information S3 is information necessary for the verification video drawing unit 4 to draw the verification video, and is information that represents the position and attitude of an imaging element (simulated imaging element) on the virtual vehicle.

[0018] When the rendering information request S2 is input, the vehicle simulation model 3 transmits position and attitude information S3 about the image pickup device on the virtual vehicle at the time of input to the verification video rendering unit 4. For example, the rendering information request S2 is input to the vehicle simulation model 3 at predetermined time intervals. The vehicle simulation model 3 simulates the behavior of the virtual vehicle in the virtual space at predetermined time intervals (for example, 1 ms intervals). In this case, the vehicle simulation model 3 has a function of calculating the position and attitude of the image pickup device on the virtual vehicle in accordance with the behavior of the virtual vehicle.

[0019] The verification video rendering unit 4 has a function to send a rendering information request S2 to the vehicle simulation model 3 and a function to receive position and attitude information S3 from the vehicle simulation model 3. The verification video rendering unit 4 also has a function to send information S6 related to the rendering time to the timing adjustment unit 6, a function to receive rendering adjustment information S7 from the timing adjustment unit 6, and a function to render the verification video S4 and transmit the verification video S4 to the video processing unit 5. The information S6 related to the rendering time is, for example, the time (actual value) taken to render the verification video S4, or an estimated time (estimated value) from the start of rendering the verification video to the completion of rendering.

[0020] The verification video rendering unit 4 generates the verification video S4 based on the information of the imaging element specified by the position and orientation information S3, but does not transmit the verification video S4 to the video processing unit 5 immediately after generation, but adjusts the timing of outputting the verification video S4 (verification video output S5) based on the rendering adjustment information S7. The verification video S4 generated by the verification video rendering unit 4 is an image of the external world of the virtual vehicle that is estimated to be actually obtained from the imaging element 1 based on the position and orientation information S3 and an environmental map (not shown) (map data and surrounding data such as buildings).

[0021] In order to reduce delays in information transmission, it is desirable to mount the vehicle simulation model 3 and the verification video rendering unit 4 on the same hardware. The vehicle simulation model 3 and the verification video rendering unit 4 may be modularized.

[0022] The video processing unit 5 has the functions of receiving a video synchronization signal S1 from the imaging element 1, receiving a verification video S4 from the verification video rendering unit 4, and transmitting a verification video output S5 to the electronic control unit 2.

[0023] The video processing unit 5 outputs the verification video S4 received from the verification video rendering unit 4 to the electronic control unit 2 at the timing when the video synchronization signal S1 is input from the imaging element 1 (verification video output S5). The video processing unit 5 can be configured using a GPU (Graphics Processing Unit), for example.

[0024] The timing adjustment unit 6 has the function of receiving a video synchronization signal S1 from the imaging element 1, the function of receiving information S6 regarding drawing time from the verification video drawing unit 4, and the function of transmitting drawing adjustment information S7 to the verification video drawing unit 4.

[0025] The timing adjustment unit 6 estimates the reception timing (interval) of the video synchronization signal S1 periodically received from the imaging element 1, and transmits drawing adjustment information S7 such as delay time based on information S6 related to the drawing time. The evaluation device 20 of the electronic control unit has the timing adjustment unit 6, so that it can output the verification video S4 (verification video output S5) at a timing according to the imaging element 1.

[0026] [Hardware Configuration of Computer] Here, the hardware configuration of the electronic control unit evaluation device 20 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the hardware configuration of a computer provided in the electronic control unit evaluation device 20. The computer 30 shown in Fig. 2 is an example of hardware used as a computer. The electronic control unit evaluation device 20 according to this embodiment realizes evaluation of the electronic control unit 2 performed by the respective functional blocks shown in Fig. 1 in cooperation with each other by the computer 30 (computer) executing a program.

[0027] The computer 30 includes a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, and a RAM (Random Access Memory) 33, all connected to a system bus. The computer 30 further includes a non-volatile storage 34 and a communication interface 35.

[0028] The CPU 31 reads out program code of software that realizes each function according to this embodiment from the ROM 32, loads it into the RAM 33, and executes it. Variables, parameters, etc. generated during the calculation processing of the CPU 31 are temporarily written to the RAM 33, and these variables, parameters, etc. are read out by the CPU 31 as appropriate. For example, the RAM 33 is used for buffering the verification video S4 by the video processing unit 5. Each function of the electronic control unit evaluation device 20 is realized by the CPU 31 executing the program code read out from the ROM 32. However, another processor such as an MPU (Micro Processing Unit) may be used instead of the CPU 31.

[0029] The nonvolatile storage 34 is an example of a recording medium, and is capable of storing data used by a program, data obtained by executing a program, etc. For example, the program for the vehicle simulation model 3 is stored in the nonvolatile storage 34. The nonvolatile storage 34 may also store an operating system (OS) or a program executed by the CPU 31. The nonvolatile storage 34 may be a hard disk drive (HDD), a solid state drive (SSD), an optical or magnetic disk medium, a semiconductor memory card, or the like.

[0030] The communication interface 35 is implemented by a communication device such as a network interface card (NIC). The communication interface 35 is configured to be able to transmit and receive various data to and from an external device via a communication network such as a LAN or the Internet, or a dedicated line, to which a terminal is connected. The communication between the evaluation device 20 for the electronic control unit and the camera system 10 is realized using the communication interface 35.

[0031] [Conventional Electronic Control Unit Evaluation Device] The operation of a conventional electronic control unit evaluation device will now be described with reference to Figures 3 and 4. Figure 3 is a sequence chart showing an example of the operation of a conventional electronic control unit evaluation device. Here, the configuration of the conventional electronic control unit evaluation device corresponds to the configuration of the electronic control unit evaluation device 20 shown in Figure 1 with the timing adjustment unit 6 removed. Note that a video synchronization signal S1 is input to the video processing unit 5, but is not shown in Figure 3.

[0032] In the case of an evaluation device for an electronic control unit to which the present invention is not applied, the verification video rendering unit 4 outputs a rendering information request S2 for rendering a verification video on the vehicle simulation model 3 to the vehicle simulation model 3 (acquisition of verification video rendering information). When the vehicle simulation model 3 receives the rendering information request S2 from the verification video rendering unit 4, it transmits position and attitude information S3 of the image sensor calculated at a predetermined period (for example, 1 ms).

[0033] Next, the verification video rendering unit 4 renders the verification video S4 based on the position and orientation information S3 of the image sensor (rendering of the verification video), and upon completion of the rendering, sends the verification video S4 to the video processing unit 5. The video processing unit 5 buffers the verification video S4 received from the verification video rendering unit 4.

[0034] After outputting the verification video S4 to the video processing unit 5, the verification video drawing unit 4 immediately sends a drawing information request S2 to the vehicle simulation model 3.

[0035] In this manner, conventionally, the drawing information request S2, drawing of the verification video S4, and buffering of the verification video S4 are repeatedly performed. At this time, the electronic control unit 2 periodically receives a video synchronization signal S1 from the image sensor 1 and reads the latest verification video S4 buffered in the video processing unit 5. The video processing unit 5 outputs (verification video output S5) the latest verification video S4 upon receiving the video synchronization signal S1, resulting in a loss of a frame image (hereinafter, a frame loss) if the drawing time of the verification video S4 is short. In the example of FIG. 3 , of the three verification videos S4 buffered in the video processing unit 5, the second verification video S4 (corresponding to frame 2 in FIG. 4 ) is not output to the electronic control unit 2 and is therefore lost.

[0036] 4 is a timing chart showing an example of the operation of a conventional electronic control unit evaluation device. In FIG. 4, the verification video rendering unit 4 receives position and orientation information S3 from the vehicle simulation model 3 and updates the information about the position and orientation of the image sensor ((1) Camera Position Information Update in FIG. 4). Next, the verification video rendering unit 4 renders a verification video S4 based on the updated information about the position and orientation of the image sensor ((2) Drawing), and outputs the latest verification video S4 (frame) to the video processing unit 5 when the rendering is complete ((4) Drawing Complete). Here, in response to the third video synchronization signal S1, the latest verification video S4 whose rendering has been completed is frame 3, so frame 3 is output to the video processing unit 5, and frame 2 is not output and is lost.

[0037] For example, consider a case where a vehicle is gradually approaching an obstacle. While consecutive frames showing the distance from the obstacle as 10 m, 9 m, 8 m, and 7 m would normally be obtained, a skipped frame, such as frame 2, results in frames showing the distance from the obstacle as 10 m, 8 m, and 7 m, resulting in some frames being missing. In this case, the electronic control unit 2 may detect a change in the distance between the vehicle and the object as having changed from 10 m to 8 m, rather than from 10 m to 9 m, and may mistakenly determine that the distance between the vehicle and the object has suddenly decreased. Such a frame skipping may prevent accurate simulation of the current behavior of the virtual vehicle.

[0038] [Electronic Control Unit Evaluation Device of the Present Invention] Next, the operation of the electronic control unit evaluation device 20 according to this embodiment will be described with reference to Figures 5 and 6. Figure 5 is a sequence chart showing an example of the operation of the electronic control unit evaluation device 20. The electronic control unit evaluation device 20 shown in Figure 5 includes a timing adjustment unit 6, in comparison with Figure 3. Note that a video synchronization signal S1 is input to the video processing unit 5, but is not shown in Figure 5.

[0039] The verification video rendering unit 4 repeatedly renders the verification video S4 based on the position and orientation information S3. The timing adjustment unit 6 receives a video synchronization signal S1 from the image sensor 1. The timing adjustment unit 6 also receives information S6 relating to the rendering time associated with the rendering of the verification video S4 from the verification video rendering unit 4, and begins monitoring the timing of completion of rendering of the verification video S4 (monitoring of the rendering completion timing). The information S6 relating to the rendering time is input to the timing adjustment unit 6 between the time when the verification video rendering unit 4 completes rendering of the verification video S4 and the time when it outputs the verification video S4 to the video processing unit 5.

[0040] When the timing adjustment unit 6 starts monitoring the timing of recording completion, it calculates the waiting time and inserts the waiting time. Note that the time required to draw the verification video varies depending on the amount of information in the verification video S4, which is based on the position and orientation information S3 of the image sensor and the environment map.

[0041] Next, the timing adjustment unit 6 calculates the waiting time until the next input of the video synchronization signal S1 from the video synchronization signal S1 input from the imaging device 1 and the information S6 relating to the drawing time input from the verification video drawing unit 4 (waiting time calculation). Specifically, the timing adjustment unit 6 calculates the waiting time from when the drawing of the verification video S4 is completed by the verification video drawing unit 4 until the output of the verification video S4 to the video processing unit 5. The shorter the time required to draw the verification video S4, the longer the waiting time needs to be.

[0042] Then, the timing adjustment unit 6 transmits the information about the waiting time to the verification video drawing unit 4 as drawing adjustment information S7 (insertion of waiting time).

[0043] The verification video rendering unit 4 has a function of waiting (timing adjustment) the output processing of the verification video S4 to the video processing unit 5 for the waiting time included in the rendering adjustment information S7 input from the timing adjustment unit 6, and completing the rendering after waiting for the specified time. In other words, the verification video rendering unit 4 adjusts the timing of the completion of the rendering in accordance with the rendering adjustment information S7, and transmits the verification video S4 to the video processing unit 5.

[0044] In this way, the timing adjustment unit 6 adjusts the waiting time for waiting for the completion of drawing of the verification video, thereby adjusting the timing for starting drawing of the next verification video, and as a result, the output timing of the verification video can be adjusted.

[0045] The image processing unit 5 also buffers the verification image S4 input from the verification image rendering unit 4, and when the image synchronization signal S1 is input from the imaging element 1, transmits the verification image S4 to the electronic control unit 2 (verification image output S5). After transmitting the verification image S4 to the image processing unit 5, the verification image rendering unit 4 immediately sends a rendering information request S2 to the vehicle simulation model 3.

[0046] In this way, after the waiting time has elapsed, the verification video rendering unit 4 outputs the verification video to the video processing unit 5 and starts rendering the next verification video.

[0047] 6 is a timing chart showing an example of the operation of the electronic control unit evaluation device 20. In FIG. 6, the verification video rendering unit 4 receives position and attitude information S3 from the vehicle simulation model 3 and updates the information about the position and attitude of the image sensor ((1) Camera Position Information Update in FIG. 6). Next, the verification video rendering unit 4 renders the verification video S4 based on the information about the position and attitude of the image sensor ((2) Drawing), and after completing the rendering of the verification video S4, waits for a waiting time in accordance with the drawing adjustment information S7 ((3) Completion Wait).

[0048] Then, after the waiting time has elapsed, the verification video rendering unit 4 outputs the rendered verification video S4 to the video processing unit 5. In parallel with outputting the verification video S4, the verification video rendering unit 4 receives position and attitude information S3 from the vehicle simulation model 3 and updates the information about the position and attitude of the imaging element ((1) Camera position information update).

[0049] At the timing when the video synchronization signal S1 is received, the video processing unit 5 outputs the latest buffered verification video S4 to the electronic control unit 2 (verification video output S5).

[0050] In this embodiment, by inserting a waiting time after the verification video drawing unit 4 draws the verification video S4 and controlling the timing of outputting the verification video S4 to the video processing unit 5, the verification video S4 can be output to the electronic control unit 2 in accordance with the video synchronization signal S1 (verification video output S5).

[0051] As described above, the electronic control unit evaluation device of the first embodiment is an electronic control unit evaluation device that evaluates an electronic control unit that is connected to an imaging element and handles video signals, and is equipped with a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element obtained 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 from the imaging element, and a timing adjustment unit that adjusts the timing to start drawing the verification video based on the video synchronization signal and information related to the drawing time output from the verification video drawing unit.

[0052] The evaluation device for the electronic control unit according to the present embodiment described above has a function of estimating the request interval from the video synchronization signal at which the camera system requests the verification video, and a function of adjusting the time until the generation of the verification video is completed (i.e., the verification video is output) based on the estimated request interval.

[0053] The electronic control unit evaluation device according to this embodiment estimates the timing at which the camera system (electronic control unit) requests verification video and adjusts the timing at which the verification video starts to be drawn, thereby adjusting the output timing of the verification video. This allows the electronic control unit evaluation device according to this embodiment to adapt to changes in the drawing time of the verification video and output video in consecutive frames. Therefore, the electronic control unit evaluation device according to this embodiment can prevent frame loss of the verification video between video synchronization signals due to a time lag between the video synchronization signal from the camera system's image sensor and the generation of the verification video.

[0054] Second Embodiment Next, an evaluation device for an electronic control unit according to a second embodiment of the present invention will be described with reference to Figures 7 and 8. The configuration of the evaluation device for an electronic control unit according to this embodiment can be the same as the configuration of the evaluation device 20 for an electronic control unit according to the first embodiment shown in Figure 1.

[0055] 7 is a sequence chart showing an example of the operation of the evaluation device for an electronic control unit according to this embodiment. The sequence chart shown in FIG. 7 differs from the sequence chart according to the first embodiment shown in FIG. 5 in that a signal indicating permission to complete drawing is used in the verification video drawing unit 4.

[0056] The timing adjustment unit 6 calculates the waiting time until the next input of the video synchronization signal S1 (waiting time calculation) from the video synchronization signal S1 input from the imaging device 1 and the information S6 relating to the drawing time input from the verification video drawing unit 4. Then, the timing adjustment unit 6 transmits the information on the waiting time as drawing adjustment information S7 to the verification video drawing unit 4 (waiting time insertion).

[0057] The verification video rendering unit 4 has the function of waiting (timing adjustment) the output process of the verification video S4 to the video processing unit 5 for the waiting time included in the rendering adjustment information S7 input from the timing adjustment unit 6, and completing the rendering after waiting for the specified time. Here, the verification video rendering unit 4 may notify the video processing unit 5 of status information indicating that the rendering of the verification video S4 has been completed (verification video rendering completion). The verification video rendering unit 4 outputs the verification video S4 to the video processing unit 5 together with the notification of this status information. In this way, the video processing unit 5 can reliably grasp that the rendering of the verification video S4 has been completed in the verification video rendering unit 4 and can execute the verification video output S5.

[0058] In this way, the verification video rendering unit 4 has the function of transmitting a notification of completion of the rendering of the verification video (status information) to the video processing unit 5 after the waiting time has elapsed.

[0059] 8 is a timing chart showing an example of the operation of the evaluation device for an electronic control unit according to this embodiment. In FIG. 8, the verification video rendering unit 4 receives position and orientation information S3 from the vehicle simulation model 3 and updates the information about the position and orientation of the image sensor ((1) Camera Position Information Update in FIG. 6). Next, the verification video rendering unit 4 renders the verification video S4 based on the information about the position and orientation of the image sensor ((2) Drawing). After the rendering of the verification video S4 is completed, the verification video rendering unit 4 waits for a waiting time in accordance with the rendering adjustment information S7 ((3) Completion Wait).

[0060] Thereafter, when the waiting time has elapsed, the verification video drawing unit 4 generates a drawing completion permission signal, and while the drawing completion permission signal is in the ON state ((4) Drawing Completed), outputs the drawn verification video S4 to the video processing unit 5. At this time, the verification video drawing unit 4 may notify the video processing unit 5 of status information indicating the completion of drawing of the above-mentioned verification video S4.

[0061] In addition, in parallel with outputting the verification video S4, the verification video rendering unit 4 receives position and attitude information S3 from the vehicle simulation model 3 and updates the information regarding the position and attitude of the imaging element ((1) Camera position information update).

[0062] Then, at the timing when the video processing unit 5 receives the video synchronization signal S1, it outputs the latest buffered verification video S4 to the electronic control unit 2 (verification video output S5).

[0063] According to the evaluation device for the electronic control unit of the present embodiment described above, it is possible to more reliably prevent frame loss of the verification video between the video synchronization signals due to a timing discrepancy between the video synchronization signal from the image sensor of the camera system and the generation of the verification video.

[0064] Third Embodiment Next, an evaluation device for an electronic control unit according to a third embodiment of the present invention will be described with reference to FIG.

[0065] 9 is a diagram showing an example of the functions of the timing adjustment unit 6 in the evaluation device 20 for an electronic control unit according to this embodiment. The imaging element 1 has a function of transmitting a video synchronization signal S1 to the timing adjustment unit 6. The verification video drawing unit 4 has a function of transmitting information S6 relating to a varying drawing time to the timing adjustment unit 6. Here, the drawing time is represented as Td.

[0066] The timing adjustment unit 6 has the function of calculating drawing adjustment information S7, which is the waiting time, based on the video synchronization signal S1 from the imaging element 1, information S6 (drawing time Td) regarding the varying drawing time from the verification video drawing unit 4, the display prohibition time setting Th, and the display permission time setting Ta, and outputting it to the verification video drawing unit 4.

[0067] The display prohibition time setting Th is a setting for the time during which the output of the verification video S4 to the video processing unit 5 is prohibited. The display permission time setting Ta is a setting for the time during which the output of the verification video S4 to the video processing unit 5 is permitted. The length of the period (4) drawing completion in FIG. 8 is set to be within the range of the display permission time setting Ta. The display prohibition time set by the display prohibition time setting Th is set between the display permission time ((4) drawing completion) set by the display permission time setting Ta and the video synchronization signal S1. The ON period of the drawing completion permission signal shown in FIG. 8 corresponds to the display permission time setting Ta.

[0068] The timing adjustment unit 6 calculates the interval Δt between the repeated video synchronization signals S1. The interval Δt between a video synchronization signal V-SYNC(t) at a certain timing and a video synchronization signal V-SYNC(t+1) at the next timing is V_SYNC(t+1)-V_SYNC(t). The timing adjustment unit 6 also calculates the permitted drawing time T1 as T1=Δt-Th-Ta.

[0069] The length of the drawing time Td, which is information from the verification video drawing unit 4, changes depending on the specifications and situation of the object to be displayed, so it is necessary to adjust the waiting time until the drawing completion is confirmed for each timing of the verification video output S5. The object to be displayed is the receiving side of the verification video output S5, such as the electronic control unit 2 or a display device such as a liquid crystal display (not shown). Therefore, the waiting time Tw is calculated by Tw = T1 - Td, and this value is transmitted to the verification video drawing unit 4.

[0070] [Internal processing of timing adjustment unit] V_SYNC(t+1)-V_SYNC(t)=Δt Allowed drawing time T1=Δt-Th-Ta Calculation of interrupt time (waiting time Tw) until drawing completion is permitted Tw=T1-Td Setting of interrupt time (waiting time) Tw for verification video drawing unit 4

[0071] As described above, in the evaluation device for an electronic control unit according to this embodiment, when the waiting time is Tw, the interval between video synchronization signals is Δt, information regarding the drawing time is Td, the preset display permission time for the verification video is Ta, the display permission prohibition time for the verification video is Th, and the drawing permission time for allowing the drawing of the verification video is T1, the drawing permission time T1 can be calculated as T1 = Δt - Th - Ta, and the waiting time Tw can be calculated as Tw = T1 - Td.

[0072] According to the evaluation device for an electronic control unit according to the present embodiment described above, the waiting time can be flexibly set so that the verification image can be repeatedly output at intervals of the image synchronization signal in accordance with fluctuations in the drawing time.

[0073] Fourth Embodiment FIG. 10 is a block diagram showing an example of the configuration of an electronic control unit evaluation device 20 using a stereo camera system 40 according to a fourth embodiment of the present invention. Hereinafter, only the differences between this embodiment and the first embodiment will be described. The number of imaging elements 1 connected to the electronic control unit 2 is not limited to one. As shown in FIG. 10 , even in the case of using a stereo camera connected to two imaging elements, i.e., imaging element 1A and imaging element 1B, the electronic control unit evaluation device 20 similarly has a function of adjusting the output timing of the verification video S4. When imaging element 1A and imaging element 1B are synchronized, the video synchronization signal S1 of imaging element 1A or imaging element 1B can be input to the electronic control unit evaluation device 20.

[0074] Fifth Embodiment FIG. 11 is a block diagram showing an example of the configuration of an electronic control unit evaluation device 20 using a multi-camera system 50 according to a fifth embodiment of the present invention. Hereinafter, only the differences between this embodiment and the first embodiment will be described. The number of image sensors 1 connected to the electronic control unit 2 is not limited to one. As shown in FIG. 11 , even when a multi-camera system is used in which three or more image sensors, i.e., image sensors 1A, 1B, 1C, etc., are connected, the electronic control unit evaluation device 20 similarly has a function for adjusting the output timing of the verification video S4. When synchronization is achieved between the multiple image sensors 1A, 1B, 1C, etc., the image synchronization signal S1 of any one of the image sensors 1A, 1B, 1C, etc., can be input to the electronic control unit evaluation device 20.

[0075] The present invention is not limited to the above-described embodiments, and various other applications and modifications are possible without departing from the spirit of the present invention as set forth in the claims. For example, the above-described embodiments have been described in detail and specifically to clearly explain the present invention, and are not necessarily limited to those including all of the components described. Furthermore, it is also possible to add, replace, or delete other components from part of the configuration of each embodiment.

[0076] Furthermore, some or all of the above-described configurations, functions, processing units, etc. may be implemented in hardware, for example, by designing them as integrated circuits, etc. As the hardware, a broad processor device such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) may be used.

[0077] Furthermore, the components of the evaluation device for an electronic control unit according to the above-described embodiment may be implemented in any hardware as long as the respective hardware can transmit and receive information to each other via a network. Furthermore, the processing performed by a certain processing unit may be realized by a single piece of hardware, or may be realized by distributed processing using multiple pieces of hardware.

[0078] In the above-described embodiment, the control lines and information lines are those that are considered necessary for the explanation, and not all control lines and information lines in the product are necessarily shown. In reality, it can be considered that almost all components are interconnected.

[0079] REFERENCE SIGNS LIST 1...imaging element, 2...electronic control unit, 3...vehicle simulation model, 4...verification image rendering unit, 5...image processing unit, 6...timing adjustment unit, 10...camera system, 20...electronic control unit evaluation device, 40...stereo camera system, 50...multi-camera system, S1...image synchronization signal, S2...drawing information request, S3...posture information, S4...verification image, S5...verification image output, S6...information related to rendering time, S7...drawing adjustment information, Δt...interval between video synchronization signals, Tw...standby time

Claims

1. An electronic control unit evaluation device for evaluating an electronic control unit connected to an imaging element and handling video signals, comprising: a verification video drawing unit that draws a verification video based on position and attitude information of a simulated imaging element obtained using a specified vehicle simulation model; a video processing unit that outputs the verification video to the electronic control unit based on a video synchronization signal output from the imaging element; and a timing adjustment unit that adjusts the timing of starting to draw the verification video based on the video synchronization signal and information regarding the drawing time output from the verification video drawing unit.

2. The electronic control unit evaluation device according to claim 1, wherein the timing adjustment unit adjusts the timing for starting drawing of the next verification image by adjusting a waiting time for completion of drawing of the verification image.

3. The electronic control unit evaluation device according to claim 2, wherein the verification video drawing section outputs the verification video to the video processing section after the waiting time has elapsed, and starts drawing the next verification video.

4. The evaluation device for an electronic control unit as described in claim 3, wherein the waiting time is Tw, the interval between the video synchronization signals is Δt, the information regarding the drawing time is Td, the predetermined display permitted time of the verification video is Ta, the display prohibited time of the verification video is Th, and the drawing permitted time during which drawing of the verification video is permitted is T1, the drawing permitted time T1 is calculated as T1 = Δt - Th - Ta, and the waiting time Tw is calculated as Tw = T1 - Td.

5. The electronic control unit evaluation device according to claim 3, wherein the verification video rendering section transmits a notification of completion of rendering of the verification video to the video processing section after the waiting time has elapsed.

6. The evaluation device for an electronic control unit according to claim 1, wherein the imaging element and the electronic control unit constitute a monocular camera system.

7. The electronic control unit evaluation device according to claim 1, wherein the two imaging elements and the electronic control unit form a stereo camera system.

8. The electronic control unit evaluation device according to claim 1, wherein a multi-camera system is configured by a plurality of said imaging elements and said electronic control unit.

9. A method for evaluating an electronic control unit that is connected to an imaging element and handles video signals, comprising the steps of: drawing a verification image based on position and attitude information of a simulated imaging element obtained using a specified vehicle simulation model; outputting the verification image to the electronic control unit based on a video synchronization signal output from the imaging element; and adjusting the timing to start drawing the verification image based on the video synchronization signal and information related to the drawing time of the verification image.