Method and apparatus for testing stray light in vehicle-mounted image acquisition module, device and medium

Abstract

A method and apparatus for testing stray light in a vehicle-mounted image acquisition module, a device and a medium. The method comprises: obtaining a pixel image, a first brightness image and a second brightness image which correspond to a preset light source; wherein the pixel image is acquired by a vehicle-mounted image acquisition module to be tested, and said vehicle-mounted image acquisition module comprises a first lens; the first brightness image is acquired by a first brightness meter consisting of a preset sensor and a second lens; and the second brightness image is acquired by a second brightness meter consisting of the preset sensor and the first lens (S110); and on the basis of the pixel image, the first brightness image and the second brightness image, determining an energy level of stray light in said vehicle-mounted image acquisition module (S120).

Description

Test methods, apparatus, equipment and media for stray light in vehicle-mounted image acquisition modules

[0001] This application claims priority to Chinese Patent Application No. 202411936389.0, filed with the Chinese Patent Office on December 26, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle technology, for example to a method, apparatus, device and medium for testing stray light in a vehicle-mounted image acquisition module. Background Technology

[0003] In autonomous driving systems, the onboard module is a crucial device used to acquire images of roads, traffic signs, and other information. However, vehicles encounter various lighting conditions during operation, and some of this light entering the onboard module creates stray light. High-energy stray light can obscure small targets in the image, preventing the autonomous driving system from correctly identifying them and thus affecting the safety of autonomous driving. Therefore, to ensure the safety of autonomous driving, it is necessary to test the energy level of stray light from the onboard module.

[0004] In related technologies, stray light energy levels are tested indirectly: The brightness of the light source is fixed, and the vehicle-mounted module is placed at a fixed test distance; a neutral density filter (NDF) is placed in front of the lens in the vehicle-mounted module to saturate the pixel values ​​of the light source image on the sensor; an image is captured at this point, and the stray light is selected from the image, with its digital image peak value taken; the stray light energy level is determined using the formula: Energy Level = (Stray Light Peak Value × NDF Transmittance) / Digital Image Value at the Light Source. This method introduces an NDF filter; if the uniformity of the NDF filter cannot be guaranteed, the energy level will deviate, and the energy level is calculated approximating the pixel values ​​with the NDF filter, which introduces errors. Summary of the Invention

[0005] This application provides a method, apparatus, device, and medium for testing stray light in a vehicle-mounted image acquisition module, which can improve the accuracy of stray light energy levels and ensure the safety of autonomous driving.

[0006] In a first aspect, embodiments of this application provide a method for testing stray light in a vehicle-mounted image acquisition module, including:

[0007] Acquire a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; wherein, the pixel image is acquired by a vehicle-mounted image acquisition module under test, and the vehicle-mounted image acquisition module under test includes a first lens; the first brightness image is acquired by a first brightness meter composed of a preset sensor and a second lens, and the second brightness image is acquired by a second brightness meter composed of the preset sensor and the first lens;

[0008] The energy level of stray light in the vehicle-mounted image acquisition module under test is determined based on the pixel image, the first brightness image, and the second brightness image.

[0009] Secondly, embodiments of this application also provide a testing device for stray light in a vehicle-mounted image acquisition module, the device comprising:

[0010] The image acquisition module is configured to acquire a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; wherein, the pixel image is acquired by a vehicle-mounted image acquisition module under test, and the vehicle-mounted image acquisition module under test includes a first lens; the first brightness image is acquired by a first brightness meter composed of a preset sensor and a second lens, and the second brightness image is acquired by a second brightness meter composed of the preset sensor and the first lens;

[0011] The energy level determination module is configured to determine the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first brightness image, and the second brightness image.

[0012] Thirdly, embodiments of this application also provide an electronic device, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the stray light testing method for the vehicle-mounted image acquisition module described in the embodiments of this application.

[0016] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the stray light testing method of the vehicle-mounted image acquisition module described in embodiments of this application. Attached Figure Description

[0017] Figure 1 is a flowchart of a method for testing stray light in a vehicle-mounted image acquisition module according to Embodiment 1 of this application;

[0018] Figure 2 is a flowchart of a method for testing stray light in a vehicle-mounted image acquisition module according to Embodiment 2 of this application;

[0019] Figure 3 is a schematic diagram of the structure of a stray light testing device for a vehicle-mounted image acquisition module according to Embodiment 3 of this application;

[0020] Figure 4 is a schematic diagram of the structure of an electronic device according to Embodiment 4 of this application. Detailed Implementation

[0021] Example 1

[0022] Figure 1 is a flowchart of a method for testing stray light in a vehicle-mounted image acquisition module according to Embodiment 1 of this application. This embodiment is applicable to testing the energy level of stray light in a vehicle-mounted image acquisition module under test. This method can be executed by a device for testing stray light in a vehicle-mounted image acquisition module. This device can be implemented in software and / or hardware; for example, it can be implemented by an electronic device, such as a mobile terminal, a PC, or a server. Specifically, it includes the following steps:

[0023] S110. Obtain the pixel image, the first brightness image, and the second brightness image corresponding to the preset light source.

[0024] In this embodiment, the preset light source can be understood as a pre-defined point light source, such as sunlight or a laser light source. Further, the pixel image is acquired by the vehicle-mounted image acquisition module under test. Specifically, the vehicle-mounted image acquisition module under test is used to photograph the preset light source to obtain the pixel image corresponding to the preset light source, wherein the pixel image is characterized by pixel values. The vehicle-mounted image acquisition module under test can be understood as a vehicle-mounted camera, and the vehicle-mounted image acquisition module under test includes a first lens.

[0025] In this embodiment, the first brightness image is acquired by a first luminance meter composed of a preset sensor and a second lens. Specifically, the first luminance meter is used to photograph a preset light source to obtain a first brightness image corresponding to the preset light source, wherein the first brightness image is characterized by brightness values. The first luminance meter is a two-dimensional luminance meter, the preset sensor can be understood as an image sensor, and the second lens can be understood as a calibration lens for the first luminance meter.

[0026] In this embodiment, the second brightness image is acquired by a second luminance meter composed of a preset sensor and a first lens. Specifically, the second luminance meter is used to photograph a preset light source to obtain a second brightness image corresponding to the preset light source, wherein the second brightness image is characterized by brightness values. The second luminance meter is a two-dimensional luminance meter, the preset sensor can be understood as an image sensor, and the first lens is the lens of the vehicle-mounted image acquisition module under test. Specifically, the second lens in the first luminance meter is replaced with the first lens of the vehicle-mounted image acquisition module under test, thereby combining the preset sensor and the first lens to form the second luminance meter.

[0027] In some embodiments, the vehicle-mounted image acquisition module under test further includes a first sensor; wherein the first sensor can be understood as an image sensor. Specifically, the first lens in the vehicle-mounted image acquisition module under test is aligned with the principal optical axis of a preset light source.

[0028] As described above, the first distance between the vehicle-mounted image acquisition module under test and the preset light source is determined by the focal length of the first lens, the diameter of the preset light source, and the resolution of the first sensor. For example, assuming the focal length of the first lens is f, the diameter of the preset light source is e, and the resolution of the first sensor is a*b, then the first distance Y is: Y = f*e*10 / b*m, where m represents the pixel size.

[0029] In some embodiments, the distance between the first luminance meter and the preset light source is the same as the first distance, and the distance between the second luminance meter and the preset light source is the same as the first distance. Furthermore, the distance between the first lens in the second luminance meter and the preset sensor is the same as the distance between the first lens and the first sensor in the vehicle-mounted image acquisition module under test.

[0030] S120. Determine the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first brightness image, and the second brightness image.

[0031] In this embodiment, stray light can be understood as ghosting, glare, etc. The energy level of stray light can be understood as an indicator of the intensity of stray light.

[0032] In this embodiment, one way to determine the energy level of stray light in the vehicle-mounted image acquisition module under test based on pixel images, a first brightness image, and a second brightness image can be described as follows: determining the brightness of the stray light based on pixel images, a first brightness image, and a second brightness image; and determining the energy level of the stray light based on the brightness of the stray light and the brightness of a preset light source. The brightness of the preset light source is determined based on the first brightness image.

[0033] The technical solution of this embodiment acquires a pixel image, a first luminance image, and a second luminance image corresponding to a preset light source; and determines the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first luminance image, and the second luminance image. Specifically, this technical solution considers acquiring a pixel image of the preset light source acquired by the vehicle-mounted image acquisition module under test, a first luminance image of the preset light source acquired by a first luminance meter, and a second luminance image of the preset light source acquired by a second luminance meter; simultaneously, it determines the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first luminance image, and the second luminance image. The technical solution provided in this embodiment does not use a neutral density filter, nor does it use pixel values ​​and a neutral density filter to approximate the energy level of stray light. Instead, it directly determines the energy level of stray light by using a luminance meter in conjunction with the vehicle-mounted image acquisition module under test, without any intermediate conversion or attenuation process, thereby improving the accuracy of the stray light energy level and ensuring the safety of autonomous driving.

[0034] Example 2

[0035] Figure 2 is a flowchart of a method for testing stray light in a vehicle-mounted image acquisition module according to Embodiment 2 of this application. Based on the above embodiment, the method includes the following steps:

[0036] S210. Obtain the pixel image, the first brightness image, and the second brightness image corresponding to the preset light source.

[0037] S220. Determine the brightness of the preset light source and the center position of the light source based on the first brightness image.

[0038] In this embodiment, the brightness of the preset light source is characterized by a brightness value, and the center position of the light source can be understood as the position coordinates of the center of the preset light source.

[0039] In this embodiment, one way to determine the brightness of the preset light source and the center position of the light source based on the first brightness image can be described as the following steps:

[0040] a1) Determine the maximum brightness value in the first brightness image, and take the position of the maximum brightness value in the first brightness image as the center position of the light source;

[0041] In this embodiment, the maximum brightness value in the first brightness image can be determined by: arranging the brightness values ​​in the first brightness image in descending order and taking the first-ranked brightness value as the maximum brightness value in the first brightness image; or, arranging the brightness values ​​in the first brightness image in ascending order and taking the last-ranked brightness value as the maximum brightness value in the first brightness image.

[0042] Following the above description, the method of using the position of the maximum brightness value in the first brightness image as the center position of the light source can be as follows: determine the position coordinates of the maximum brightness value in the first brightness image, and use the position coordinates as the center position of the light source. For example, the center position of the light source is (x1, y1).

[0043] b1) Extract at least one brightness value in the first brightness image that is greater than the first preset threshold, and use the average value of the at least one brightness value as the brightness of the preset light source.

[0044] In this embodiment, the first preset threshold is determined by the maximum brightness value; for example, assuming the maximum brightness value is M, the first preset threshold e1 can be expressed as M*z1%, such as z1% being 90%.

[0045] As described above, the method for extracting at least one brightness value in the first brightness image that is greater than the first preset threshold can be as follows: traverse each brightness value in the first brightness image, and for each traversed brightness value, determine whether the traversed brightness value is greater than the first preset threshold; if it is greater than the first preset threshold, then extract the brightness value and store it in a preset list.

[0046] In some embodiments, the method of using the average value of at least one brightness value as the brightness of a preset light source can be as follows: determine the total number of brightness values ​​in a preset list; sum the brightness values ​​in the preset list to obtain the summed brightness value; divide the summed brightness value by the total number to obtain the average value, and use the average value as the brightness of the preset light source. For example, the brightness of the preset light source is L1.

[0047] S230. Determine the pixel value and first position information of at least one stray light pixel from the pixel image.

[0048] In this embodiment, the first location information can be understood as the position coordinates of stray light pixels in the pixel image.

[0049] In this embodiment, one way to determine the pixel value and first location information of at least one stray light pixel from a pixel image can be described by the following steps:

[0050] a2) Extract at least one pixel value from the pixel image that falls within a preset range;

[0051] In this embodiment, the preset range is determined by the maximum pixel value in the pixel image; for example, assuming the maximum pixel value is N, the preset range can be expressed as (N*z2%, N*z3%), such as z2% being 10% and z3% being 90%.

[0052] In some embodiments, the method for extracting at least one pixel value in a pixel image that is within a preset range can be as follows: traverse each pixel value in the pixel image, and for each traversed pixel value, determine whether the traversed pixel value is within the preset range; if it is within the preset range, then extract the pixel value.

[0053] b2) For each pixel value within the preset range, the pixel point corresponding to the pixel value is taken as the stray light pixel point, and the pixel value is taken as the pixel value of the stray light pixel point;

[0054] For example, assuming there are S pixel values ​​within a preset range, the pixels corresponding to these S pixel values ​​are taken as stray light pixels, that is, there are a total of S stray light pixels, and the pixel values ​​are taken as the pixel values ​​of the stray light pixels. For example, the pixel values ​​of the S stray light pixels are T1, T2, ...

[0055] c2) Determine the position of the pixel value in the pixel image and use the position of the pixel value in the pixel image as the first position information of the stray light pixel.

[0056] In this embodiment, for each pixel value within a preset range, the position coordinates of the pixel value in the pixel image are determined, and these position coordinates are used as the first position information of the stray light pixel.

[0057] S240. For each stray light pixel, determine the brightness of the stray light pixel based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information.

[0058] In this embodiment, the brightness of the stray light pixel is characterized by a brightness value.

[0059] In this embodiment, one implementation of determining the brightness of a stray light pixel based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information can be described as follows:

[0060] a3) Determine the second position information of stray light pixels from the second brightness image based on the first position information, the resolution of the pixel image, and the resolution of the second brightness image;

[0061] In this embodiment, the second position information can be understood as the position coordinates of stray light pixels in the second brightness image.

[0062] For example, suppose the first position information of the stray light pixel is (x2, y2), the resolution of the pixel image is a*b, the resolution of the second brightness image is c*d, and the second position information of the stray light pixel is denoted as (x3, y3), then x3 = c*x2 / a, y3 = d*y2 / b.

[0063] b3) Determine the brightness value of stray light pixels from the second brightness image based on the second position information;

[0064] For example, based on the second position information (x3, y3) of the stray light pixel, the brightness value at position (x3, y3) in the second brightness image is determined, and this brightness value is used as the brightness value of the stray light pixel.

[0065] c3) Determine the brightness of the stray light pixel based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image.

[0066] For example, the center position of the light source is (x1, y1), and it is assumed that the pixel value of the stray light pixel is T1.

[0067] In this embodiment, for determining the brightness of a stray light pixel based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image, one implementation method can be described as follows: if the brightness value of the stray light pixel is greater than a second preset threshold, then the brightness value of the stray light pixel is taken as the brightness of the stray light pixel.

[0068] As described above, the second preset threshold is determined by the maximum brightness value in the second brightness image. For example, assuming the maximum brightness value in the second brightness image is P, the second preset threshold e2 can be expressed as P*z4%, such as z4% being 10%. Furthermore, if the brightness value of a stray light pixel is greater than the second preset threshold e2, then the brightness value of the stray light pixel is taken as the brightness L2 of the stray light pixel.

[0069] In this embodiment, for determining the brightness of a stray light pixel based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image, another implementation method can be described as the following steps:

[0070] (1) If the brightness value of the stray light pixel is less than or equal to the second preset threshold, the third position information of the light source center is determined from the pixel image based on the center position of the light source, the resolution of the pixel image and the resolution of the first brightness image.

[0071] In this embodiment, the third location information can be understood as the position coordinates of the preset light source center in the pixel image.

[0072] For example, the center position of the light source is (x1, y1), the resolution of the pixel image is a*b, the resolution of the first brightness image is c*d, and the third position information of the center of the light source is recorded as (x4, y4). Then x4 = a*x1 / c, y4 = b*y1 / d.

[0073] (2) Determine the pixel value of the light source center from the pixel image based on the third location information;

[0074] For example, based on the third position information (x4, y4) of the light source center, the pixel value at position (x4, y4) in the pixel image is determined, and this pixel value is used as the pixel value of the light source center. For example, the pixel value of the light source center is R1.

[0075] (3) Determine the brightness value of the light source center from the second brightness image based on the light source center position;

[0076] For example, based on the center position of the light source (x1, y1), the brightness value at position (x1, y1) in the second brightness image is determined, and this brightness value is used as the brightness value of the center of the light source. For example, the brightness value of the center of the light source is L3.

[0077] (4) Determine the brightness of stray light pixels based on the pixel value of stray light pixels, the brightness value of the light source center and the pixel value of the light source center.

[0078] For example, if the pixel value of the stray light pixel is T1, the brightness value of the light source center is L3, and the pixel value of the light source center is R1, then the brightness L2 of the stray light pixel is determined by the following formula: L2 = T1 * L3 / R1.

[0079] S250. Determine the energy level of the stray light pixel based on the brightness of the stray light pixel and the brightness of the preset light source.

[0080] For example, the energy level of a stray light pixel can be determined based on the brightness of the stray light pixel and the brightness of the preset light source as follows: For each stray light pixel, divide the brightness L2 of the stray light pixel by the brightness L1 of the preset light source to obtain the energy level of the stray light pixel: L2 / L1.

[0081] In this embodiment, the method for determining the energy level of a stray light pixel based on its brightness and the brightness of a preset light source can be described by the following steps:

[0082] a4) Determine the total number of stray light pixels;

[0083] For example, the total number of stray light pixels is S.

[0084] b4) If the ratio of the total number to the resolution of the pixel image is greater than the third preset threshold, then determine the average brightness of at least one stray light pixel and use the average value as the brightness of the stray light in the region.

[0085] In this embodiment, the third preset threshold is determined by the resolution of the pixel image; for example, the third preset threshold e3 can be expressed as: a*b / 1000.

[0086] In some embodiments, if S / (a*b) is greater than a third preset threshold e3, the average brightness of the S stray light pixels is calculated and the average value is used as the brightness L_MEAN of the stray light in the region.

[0087] c4) Determine the energy level of the stray light in the region based on the brightness of the stray light in the region and the brightness of the preset light source.

[0088] For example, the energy level of the stray light in the region is obtained by dividing the brightness L_MEAN of the preset light source by L1.

[0089] The technical solution of this embodiment acquires a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; determines the brightness of the preset light source and the center position of the light source based on the first brightness image; determines the pixel value and first position information of at least one stray light pixel from the pixel image; for each stray light pixel, determines the brightness of the stray light pixel based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information; and determines the energy level of the stray light pixel based on the brightness of the stray light pixel and the brightness of the preset light source. This technical solution does not use a light-reducing filter, nor does it use pixel values ​​and a light-reducing filter to approximate the energy level of the stray light. Instead, it directly determines the energy level of the stray light using a method combining a luminance meter and the on-board image acquisition module under test. There is no intermediate conversion or attenuation process, thereby improving the accuracy of the stray light energy level and ensuring the safety of autonomous driving.

[0090] Example 3

[0091] Figure 3 is a schematic diagram of a stray light testing device for a vehicle-mounted image acquisition module according to Embodiment 3 of this application. As shown in Figure 3, the device includes:

[0092] The image acquisition module 310 is configured to acquire a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; wherein, the pixel image is acquired by a vehicle-mounted image acquisition module under test, and the vehicle-mounted image acquisition module under test includes a first lens; the first brightness image is acquired by a first brightness meter composed of a preset sensor and a second lens, and the second brightness image is acquired by a second brightness meter composed of the preset sensor and the first lens;

[0093] The energy level determination module 320 is configured to determine the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first brightness image, and the second brightness image.

[0094] In some embodiments, the energy level determination module 320 may specifically include:

[0095] The light source center position determination unit is configured to determine the brightness of the preset light source and the center position of the light source based on the first brightness image;

[0096] The first position information determining unit is configured to determine the pixel value and first position information of at least one stray light pixel from the pixel image;

[0097] The brightness determination unit is configured to determine the brightness of each stray light pixel based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information.

[0098] The energy level determination unit is configured to determine the energy level of the stray light pixel based on the brightness of the stray light pixel and the brightness of the preset light source.

[0099] In some embodiments, the light source center position determination unit is configured as follows:

[0100] Determine the maximum brightness value in the first brightness image, and take the position of the maximum brightness value in the first brightness image as the center position of the light source;

[0101] Extract at least one brightness value from the first brightness image that is greater than a first preset threshold, and use the average value of the at least one brightness value as the brightness of a preset light source; wherein, the first preset threshold is determined by the maximum brightness value.

[0102] In some embodiments, the first location information determining unit is configured as follows:

[0103] Extract at least one pixel value from the pixel image that falls within a preset range; wherein the preset range is determined by the maximum pixel value in the pixel image;

[0104] For each pixel value within a preset range, the pixel corresponding to the pixel value is taken as a stray light pixel, and the pixel value is taken as the pixel value of the stray light pixel.

[0105] The position of the pixel value in the pixel image is determined, and the position of the pixel value in the pixel image is used as the first position information of the stray light pixel.

[0106] In some embodiments, the brightness determination unit may specifically include:

[0107] The second position information determination subunit is configured to determine the second position information of the stray light pixel from the second brightness image based on the first position information, the resolution of the pixel image, and the resolution of the second brightness image;

[0108] The stray light pixel brightness value determination subunit is configured to determine the brightness value of the stray light pixel from the second brightness image based on the second position information;

[0109] The stray light pixel brightness determination subunit is configured to determine the brightness of the stray light pixel based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image.

[0110] In some embodiments, the stray light pixel brightness determination subunit is configured as follows:

[0111] If the brightness value of the stray light pixel is greater than the second preset threshold, then the brightness value of the stray light pixel is taken as the brightness of the stray light pixel; wherein, the second preset threshold is determined by the maximum brightness value in the second brightness image.

[0112] In some embodiments, the stray light pixel brightness determination subunit is further configured as follows:

[0113] If the brightness value of the stray light pixel is less than or equal to the second preset threshold, then the third position information of the light source center is determined from the pixel image based on the center position of the light source, the resolution of the pixel image, and the resolution of the first brightness image;

[0114] The pixel value of the center of the light source is determined from the pixel image based on the third location information;

[0115] The brightness value of the center of the light source is determined from the second brightness image based on the center position of the light source;

[0116] The brightness of the stray light pixel is determined based on the pixel value of the stray light pixel, the brightness value of the center of the light source, and the pixel value of the center of the light source.

[0117] In some embodiments, the energy level determination unit is configured as follows:

[0118] Determine the total number of stray light pixels;

[0119] If the ratio of the total number to the resolution of the pixel image is greater than a third preset threshold, then the average brightness of at least one stray light pixel is determined, and the average value is used as the brightness of the stray light in the region; wherein, the third preset threshold is determined by the resolution of the pixel image.

[0120] The energy level of the stray light in the region is determined based on the brightness of the stray light in the region and the brightness of the preset light source.

[0121] In some embodiments, the vehicle-mounted image acquisition module under test further includes: a first sensor; the first lens in the vehicle-mounted image acquisition module under test and the main optical axis of the preset light source are on the same straight line; the first distance between the vehicle-mounted image acquisition module under test and the preset light source is determined by the focal length of the first lens, the diameter of the preset light source and the resolution of the first sensor.

[0122] In some embodiments, the distance between the first luminance meter and the preset light source is the same as the first distance; the distance between the second luminance meter and the preset light source is the same as the first distance; the distance between the first lens in the second luminance meter and the preset sensor is the same as the distance between the first lens in the vehicle image acquisition module under test and the first sensor.

[0123] The aforementioned apparatus can execute the methods provided in all the foregoing embodiments of this application, and possesses the corresponding functional modules and beneficial effects for executing the aforementioned methods. Technical details not described in detail in this embodiment can be found in the methods provided in all the foregoing embodiments of this application.

[0124] Example 4

[0125] Figure 4 shows a schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the application described and / or claimed herein.

[0126] As shown in Figure 4, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0127] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0128] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Processor 11 may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various special-purpose Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for testing stray light in an in-vehicle image acquisition module.

[0129] In some embodiments, the method for testing stray light from an in-vehicle image acquisition module can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for testing stray light from an in-vehicle image acquisition module described above can be performed. In other embodiments, processor 11 can be configured to perform the method for testing stray light from an in-vehicle image acquisition module by any other suitable means (e.g., by means of firmware).

[0130] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0131] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0132] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. A computer-readable storage medium may be a machine-readable signal medium. A machine-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, RAM, ROM, erasable programmable read-only memory (EPROM), flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0133] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0134] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0135] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Server (VPS) services, such as high management difficulty and weak business scalability.

[0136] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method for testing stray light in an in-vehicle image acquisition module as provided in any embodiment of this application.

[0137] In the implementation of the computer program product, computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LANs or WANs—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

Claims

1. A method for testing stray light in a vehicle-mounted image acquisition module, comprising: Acquire a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; wherein, the pixel image is acquired by a vehicle-mounted image acquisition module under test, and the vehicle-mounted image acquisition module under test includes a first lens; the first brightness image is acquired by a first brightness meter composed of a preset sensor and a second lens, and the second brightness image is acquired by a second brightness meter composed of the preset sensor and the first lens; The energy level of stray light in the vehicle-mounted image acquisition module under test is determined based on the pixel image, the first brightness image, and the second brightness image.

2. The method according to claim 1, wherein, Determining the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first brightness image, and the second brightness image includes: The brightness and center position of the preset light source are determined based on the first brightness image; Determine the pixel value and first position information of at least one stray light pixel from the pixel image; For each stray light pixel, the brightness of the stray light pixel is determined based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information; The energy level of the stray light pixel is determined based on the brightness of the stray light pixel and the brightness of the preset light source.

3. The method according to claim 2, wherein, Determining the brightness of the preset light source and the center position of the light source based on the first brightness image includes: Determine the maximum brightness value in the first brightness image, and take the position of the maximum brightness value in the first brightness image as the center position of the light source; Extract at least one brightness value from the first brightness image that is greater than a first preset threshold, and use the average value of the at least one brightness value as the brightness of a preset light source; wherein, the first preset threshold is determined by the maximum brightness value.

4. The method according to claim 2, wherein, Determining the pixel value and first location information of at least one stray light pixel from the pixel image includes: Extract at least one pixel value from the pixel image that falls within a preset range; wherein the preset range is determined by the maximum pixel value in the pixel image; For each pixel value within a preset range, the pixel corresponding to the pixel value is taken as a stray light pixel, and the pixel value is taken as the pixel value of the stray light pixel. The position of the pixel value in the pixel image is determined, and the position of the pixel value in the pixel image is used as the first position information of the stray light pixel.

5. The method according to claim 2, wherein, Determining the brightness of the stray light pixel based on at least one of the pixel image, the second brightness image, the center position of the light source, the pixel value of the stray light pixel, and the first position information includes: The second location information of the stray light pixel is determined from the second brightness image based on the first location information, the resolution of the pixel image, and the resolution of the second brightness image; The brightness value of the stray light pixel is determined from the second brightness image based on the second location information; The brightness of the stray light pixel is determined based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image.

6. The method according to claim 5, wherein, The brightness of the stray light pixel is determined based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image, including: If the brightness value of the stray light pixel is greater than the second preset threshold, then the brightness value of the stray light pixel is taken as the brightness of the stray light pixel; wherein, the second preset threshold is determined by the maximum brightness value in the second brightness image.

7. The method according to claim 5, wherein, The brightness of the stray light pixel is determined based on at least one of the following: the brightness value of the stray light pixel, the pixel value of the stray light pixel, the center position of the light source, the pixel image, and the second brightness image, including: If the brightness value of the stray light pixel is less than or equal to the second preset threshold, then the third position information of the light source center is determined from the pixel image based on the center position of the light source, the resolution of the pixel image, and the resolution of the first brightness image; The pixel value of the center of the light source is determined from the pixel image based on the third location information; The brightness value of the center of the light source is determined from the second brightness image based on the center position of the light source; The brightness of the stray light pixel is determined based on the pixel value of the stray light pixel, the brightness value of the center of the light source, and the pixel value of the center of the light source.

8. The method according to claim 2, wherein, Determining the energy level of the stray light pixel based on the brightness of the stray light pixel and the brightness of the preset light source includes: Determine the total number of stray light pixels; If the ratio of the total number to the resolution of the pixel image is greater than a third preset threshold, then the average brightness of at least one stray light pixel is determined, and the average value is used as the brightness of the stray light in the region; wherein, the third preset threshold is determined by the resolution of the pixel image. The energy level of the stray light in the region is determined based on the brightness of the stray light in the region and the brightness of the preset light source.

9. The method according to claim 1, wherein, The vehicle-mounted image acquisition module under test further includes: a first sensor; the first lens in the vehicle-mounted image acquisition module under test and the main optical axis of the preset light source are on the same straight line; the first distance between the vehicle-mounted image acquisition module under test and the preset light source is determined by the focal length of the first lens, the diameter of the preset light source and the resolution of the first sensor.

10. The method according to claim 9, wherein, The distance between the first luminance meter and the preset light source is the same as the first distance; the distance between the second luminance meter and the preset light source is the same as the first distance; the distance between the first lens in the second luminance meter and the preset sensor is the same as the distance between the first lens in the vehicle image acquisition module under test and the first sensor.

11. A testing device for stray light in a vehicle-mounted image acquisition module, comprising: The image acquisition module is configured to acquire a pixel image, a first brightness image, and a second brightness image corresponding to a preset light source; wherein, the pixel image is acquired by a vehicle-mounted image acquisition module under test, and the vehicle-mounted image acquisition module under test includes a first lens; the first brightness image is acquired by a first brightness meter composed of a preset sensor and a second lens, and the second brightness image is acquired by a second brightness meter composed of the preset sensor and the first lens; The energy level determination module is configured to determine the energy level of stray light in the vehicle-mounted image acquisition module under test based on the pixel image, the first brightness image, and the second brightness image.

12. An electronic device, the electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the test method for stray light of the vehicle image acquisition module according to any one of claims 1-10.

13. A computer-readable storage medium storing computer instructions for causing a processor to execute a method for testing stray light of a vehicle-mounted image acquisition module according to any one of claims 1-10.

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