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Given the high exposure and risk of rainfall as a trigger condition for visual perception systems, various rainfall simulation tests are the main research methods. However, the realism of rain simulation of different testing methods impacts the confidence in test conclusions. In this study indicators are selected to quantify the impact of rainfall on machine vision from the aspects of image quality and object detection. Using the numerical range and trend of index changes under real rainfall as a benchmark, the comparative study of the realism of different rainfall simulation methods in the dimension of machine vision is carried out. Additionally, in this study 1 950 images of no rain and various levels of real rainfall are collected to construct a dataset, so as to obtain statistical patterns of the impact of real rainfall on machine vision. Two simulated rainfall test sites, three simulation software, and one generative model are selected for rainfall simulation tests to compare and analyze the realism of different types of rainfall simulation methods horizontally. The results show that, in terms of image quality, simulation software and rainfall simulation equipment can better simulate the real rain in terms of DR value range and trend. Regarding target detection, simulation software and generative model are closer to real rainfall in terms of CC change values. Overall, in terms of realism, digital simulation of rainfall performs best, followed by physical rainfall simulation on site and generative model, providing a reference for testing the SOTIF of the visual perception system of intelligent and connected vehicles.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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