Systems and methods for testing vehicle systems

A system for testing a vehicle system, the system comprising:

• a monitor having a viewable area;
• a camera system of the vehicle system directed to capture video displayed on the monitor, wherein the camera system has a field of view, and wherein the camera system includes a vehicle camera and an external lens that are mounted to a bracket, wherein the bracket includes reference markers;
• a vehicle actuator of the vehicle system;
• at least one processor in operable communication with the monitor, the camera system and the vehicle actuator, wherein the at least one processor is configured to execute program instructions, wherein the program instructions are configured to cause the at least one processor to:
• generate a simulation of a driving scenario to provide simulation video data;
• display the simulation on the monitor using the simulation video data;
• capture the displayed simulation using the camera system to provide video data;
• process the video data using a perception algorithm to detect and track objects in the video data to provide perception data;
• control the vehicle actuator in response to the perception data to provide command data;
• adapt the simulation based on the command data;
• and
• scale the simulation of the driving scenario in proportion to a ratio of the field of view of the camera projected onto the monitor and dimensions of the viewable area, and
• a laser directed at a center of the monitor and the bracket includes a through opening and an optical system of the vehicle camera is aligned with the through opening when the vehicle camera is mounted to the bracket, the reference markers are distributed about the through opening, the laser has a beam shaped to impinge upon the reference markers and the center of the monitor when the bracket is aligned with the center of the monitor such the when the vehicle camera is mounted to the bracket, the vehicle camera is aligned with the center of the monitor.