CN112954303B

CN112954303B - Test video black box for automatic driving binocular camera

Info

Publication number: CN112954303B
Application number: CN202110033682.6A
Authority: CN
Inventors: 曾立锵; 王建海; 宋瑞; 张志国
Original assignee: China Automobile Research And Test Center Guangzhou Co ltd
Current assignee: China Automobile Research And Test Center Guangzhou Co ltd
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2025-07-18
Anticipated expiration: 2041-01-11
Also published as: CN112954303A

Abstract

The present invention provides a test video black box for an autonomous driving binocular camera, the interior of the box includes: two vertically placed monitors; a monitor bracket for adjusting the vertical height, horizontal position, longitudinal position, elevation angle, horizontal orientation angle and roll angle of the monitor mounted on the monitor bracket; a partition separating the two monitors, the partition containing a light-transmitting hole, through which a camera on one side of the binocular camera can shoot the screen of the monitor; two groups of lenses and a lens bracket for adjusting the lens position. The present invention controls the cameras on both sides of the binocular camera to respectively shoot two monitors located in different directions through a light steering structure, thereby capturing images with completely different camera installation positions, viewing angles, and visual distortions, ensuring the independence of the binocular camera images, and restoring the binocular camera's characteristic of calculating the relative distance of the target through the difference in installation positions and the viewing angle difference of the object in the two cameras.

Description

Test video black box for automatic driving binocular camera

Technical Field

The invention relates to the technical field of automatic driving systems, in particular to a test video black box of an automatic driving binocular camera.

Background

The video black box is an important component of the automatic driving hardware in the loop test system, has the functions of visual perception identification and decision execution algorithm of the test automatic driving system, and builds an optical performance test environment of the complex light of the automatic driving camera. The traditional video black box is influenced by the structure and principle of the video black box, is only suitable for testing a monocular camera at present, and along with the rapid development of an automatic driving technology, the scheme of simultaneously installing wide-angle and long-focus binocular cameras side by side in the same visual angle direction is increasingly widely applied. If the automatic driving binocular camera is forcibly tested in the traditional video black box, the characteristic that the binocular camera calculates the relative distance of the target through the visual angle difference formed by the target in the two cameras cannot be restored, meanwhile, the distortion characteristics of the object in the binocular camera are also deviated, so that the vision target is poor in reducibility, and the error of the test result is large.

Disclosure of Invention

The invention provides a test video black box for an automatic driving binocular camera, which can truly reflect and restore the binocular angular deviation, visual distortion and other characteristics of the binocular camera in real environment perception, and overcomes the technical defect that the automatic driving binocular camera cannot be subjected to simulation in-loop test at present.

One embodiment of the invention provides a test video black box for an automatic driving binocular camera, wherein the inside of the box comprises:

two vertically placed displays;

the display bracket is used for adjusting the vertical height, the horizontal position, the longitudinal position and the elevation angle of the display arranged on the display bracket;

a partition board for separating the two displays, wherein the partition board comprises light-passing small holes, and a camera at one side of the binocular camera can shoot the screen of the display through the light-passing small holes;

The lens comprises two groups of lenses and a lens bracket for adjusting the positions of the lenses, wherein the adjusting of the positions of the lenses comprises the position of the adjusting lenses in the vertical direction and the position of the adjusting lenses in the longitudinal direction.

Further, the longitudinal direction means forward and backward movement in the planar direction, and the vertical direction means up and down movement in the vertical direction.

Further, a test video black box of automatic driving binocular camera, still include:

The display support can slide in the longitudinal direction through the display support sliding rail;

the display support structure is characterized in that the display support can move in the vertical direction and the horizontal direction through the display support, and pitching adjustment can be performed through a rotating shaft structure on the support.

Further, the test video black box for the automatic driving binocular camera further comprises a camera adjusting bracket, wherein the camera adjusting bracket is used for adjusting the vertical height, the horizontal position, the longitudinal position, the elevation angle, the horizontal orientation angle and the roll angle of the camera arranged on the camera bracket.

The camera adjusting bracket can slide in the vertical direction, the horizontal direction and the longitudinal direction through the camera adjusting bracket sliding rail;

the camera adjusting bracket is characterized by comprising a camera adjusting bracket rotating shaft structure, wherein the camera adjusting bracket can perform pitching, horizontal orientation and rolling angle adjustment through the camera adjusting bracket rotating shaft structure.

Further, the lens is used for deflecting the shooting angle of the camera to shoot the corresponding display.

Further, the lens is installed between the binocular camera and the display, is used for assisting the binocular camera to focus, and can generate halation, distortion and reflection according to test requirements.

Further, the partition board is used for blocking the light rays of the two displays, so that the light rays of the two displays do not cross each other.

Furthermore, the box body structure can prevent external light from entering the box body, and the top of the box body is provided with a detachable cover plate.

Further, the surface of the inner side wall of the box body is coated with a material with extremely low light reflectivity, and the surface is of diffuse reflection, so that the dark box can be ensured to be in a completely dark state except for the light of the display.

Further, the brightness, resolution, color standard, color temperature, color depth, color gamut and stroboscopic characteristic parameters of the display all need to meet the special requirements of the camera test.

Compared with the prior art, the embodiment of the invention has the beneficial effects that:

1. The invention provides a light steering structure, which controls cameras on two sides of a binocular camera to respectively shoot two displays positioned in different directions, so that images with completely different mounting positions, visual angles and visual distortion of the cameras are captured. Compared with the traditional scheme of shooting the same display by adopting the binocular camera, the scheme can ensure the independence of images of the binocular camera, restore the characteristic that objects have visual angle differences in the two cameras through the difference of installation positions, thereby calculating the relative distance of targets, and ensure the accuracy of the images through split screens of different cameras.

2. The invention provides a novel video black box aiming at the hardware-in-the-loop test of an automatic driving binocular camera, which can truly reflect and restore the binocular angular deviation, visual distortion and other characteristics of the binocular camera in the real environment perception, and overcomes the technical defect that the automatic driving binocular camera cannot be subjected to the simulation-in-the-loop test at present.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a test video black box for an autopilot binocular camera according to the present invention;

FIG. 2 is a schematic diagram of a three-dimensional structure of an automatic driving binocular camera after a cover plate of a test video black box is opened;

FIG. 3 is a schematic diagram of the internal structure of the automatic driving binocular camera of the invention after the upper box structure is concealed by opening the cover plate of the test video black box;

fig. 4 is a top view of a test video black box for an autopilot binocular camera of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.

It is to be understood that the terminology used in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As shown in fig. 1 to 4, a box body structure of a test video black box of an automatic driving binocular camera comprises a video black box main body 1, a video black box upper cover plate 9 and a black box inner partition plate 2. The external shape of the video black box is L-shaped, and the camera bellows structure has good external light blocking performance, so that the test environment inside the box body can be prevented from being interfered by external test light. The baffle plate 2 for separating the display light rays at two sides is arranged in the middle of the inner part of the box body, so that the light rays of the two displays can be ensured not to cross each other. The baffle plate 2 is provided with a light-transmitting small hole, and a camera at one side of the binocular camera can shoot a picture of one display through the small hole. The inner surface of the camera bellows is coated with a material with extremely low light reflectivity, and the surface is of diffuse reflection, so that other positions in the camera bellows except for the light of the display can be ensured to be in a completely dark state. The top of the camera bellows structure is provided with a cover plate 9 which can be opened, and equipment in the bellows can be installed, regulated and maintained after the cover plate is opened.

Two professional color graphic displays 3 are arranged in the two ends of the box, key characteristic parameters such as brightness, resolution, color standard, color temperature, color depth, color gamut and stroboscopic of the displays all need to meet special requirements of camera testing so as to ensure testing accuracy and consistency, display pictures of the two displays are independently controlled, picture contents of the two displays can be calculated and restored to obtain factors such as shielding of the binocular camera due to installation position, physical characteristics of the camera and peripheral obstacles of the installation position, and meanwhile, the visual angle difference of the same object in the binocular camera can be effectively restored. The two displays are respectively arranged on the support 4 with the adjustable multiple degrees of freedom, and the slide rails and the rotating shafts are respectively arranged on the support in the direction of each degree of freedom so as to ensure that the respective positions and the respective orientation angles of the cameras and the displays can be adjusted according to the test requirement, and the four degrees of freedom of the vertical height, the horizontal position and the longitudinal installation position pitching angle of the displays can be adjusted.

The tested camera 5 in the box body is arranged on a support 6 with adjustable multiple degrees of freedom, and the vertical height, the horizontal position, the longitudinal installation position, the pitching angle, the horizontal orientation angle and the rolling angle of the binocular camera can be controlled by adjusting the support. One of the cameras 5 to be tested directly shoots the picture of the front display through the small hole on the baffle of the camera bellows, and the other camera is provided with a light steering device 7 in front, which can be a plane mirror for precision machining or a group of mirrors composed of the plane mirror and a lens, so that the light propagation direction passing through the device can deflect 90 degrees, and the shooting direction can deflect 90 degrees to shoot the picture of the display on the other side. A group of lenses 8 are arranged between the cameras and the display on two sides and are arranged on a support with adjustable longitudinal position and height. The lens has the functions of (1) assisting the focusing of the binocular camera, enabling the camera with a far focusing point to capture clear images of a screen with a near distance, and (2) assisting the generation of vignetting, distortion, reflection and other effects.

Claims

1. A test video black box for an autonomous driving binocular camera, characterized in that the box includes:

Two vertically positioned monitors;

A monitor stand, used to adjust the vertical height, horizontal position, longitudinal position, and elevation angle of a monitor mounted on the monitor stand;

A partition separating two displays, the partition having a light-transmitting hole, through which a camera on one side of the binocular camera can shoot the screen of one of the displays, and a light-deflecting device is provided in front of the camera on the other side of the binocular camera to deflect the shooting direction of the camera to the screen corresponding to the other display;

Two groups of lenses and a lens bracket for adjusting the position of the lenses; wherein adjusting the position of the lenses includes adjusting the position of the lenses in the vertical direction and the longitudinal direction.

2. The test video black box of the binocular camera for autonomous driving according to claim 1, characterized in that it also includes:

A display bracket slide rail, through which the display bracket can slide in a longitudinal direction;

A display bracket structure, wherein the display bracket can realize vertical and horizontal movement through the display bracket, and the pitch adjustment can be performed through the rotating shaft structure on the bracket.

3. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that it also includes: a camera adjustment bracket, used to adjust the vertical height, horizontal position, longitudinal position, elevation angle, horizontal orientation angle and roll angle of the camera installed on the camera bracket.

4. The test video black box of the binocular camera for autonomous driving according to claim 3, characterized in that it also includes:

A camera adjustment bracket slide rail, through which the camera adjustment bracket can slide in vertical, horizontal and longitudinal directions;

The camera adjustment bracket has a rotating shaft structure, through which the camera adjustment bracket can adjust the pitch, horizontal orientation and roll angle.

5. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that the lens is used to deflect the shooting angle of the camera to shoot the corresponding display.

6. A test video black box for an autonomous driving binocular camera as described in claim 5, characterized in that the lens is installed between the binocular camera and the display to assist the binocular camera in focusing, and can produce vignetting, distortion and reflection phenomena according to test requirements.

7. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that the partition is used to block the light from the two displays so that the light from the two displays does not cross each other.

8. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that the box structure can block external light from entering the interior of the box; and the top of the box is a detachable cover.

9. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that the inner side wall surface of the box is coated with a material with extremely low light reflectivity, and the surface has diffuse reflection characteristics, which can ensure that except for the light of the display, other positions in the dark box are in a completely dark state.

10. A test video black box for an autonomous driving binocular camera as described in claim 1, characterized in that the brightness, resolution, color accuracy, color temperature, color depth, color gamut, and stroboscopic characteristic parameters of the display must meet the special requirements of the camera test.