CN114885102A - Method, device and system for processing control signals of multiple vehicle-mounted cameras - Google Patents

Abstract

The application relates to a method, a device and a system for processing control signals of a plurality of paths of vehicle-mounted cameras. The method comprises the following steps: respectively obtaining a control signal of a first path processor and a control signal of a second path processor; selecting a control signal of the first path processor or a control signal of the second path processor; and inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into at least one channel of cameras in a plurality of channels of vehicle-mounted cameras, so that the first channel processor or the second channel processor controls at least one channel of cameras in the plurality of channels of vehicle-mounted cameras. The scheme provided by the application can obtain the video stream data of the multi-channel vehicle-mounted camera in real time, reduces the acquisition delay of the video stream data of the camera, and meets the safety requirement of automatic driving.

Description

Method, device and system for processing control signal of multi-channel vehicle camera

technical field

The present application relates to the technical field of automatic driving, and in particular, to a method, device and system for processing control signals of multi-channel on-board cameras.

Background technique

In the related art, multi-channel cameras are usually used for autonomous driving vehicles to collect the driving state and surrounding environment information of the autonomous driving vehicle, and the video data of the multi-channel cameras is an important source of information for the autonomous driving vehicle.

In the related art, the multi-channel vehicle cameras are controlled by one CPU (Central Processing Unit, central processing unit). When the CPU that controls the cameras fails, the autonomous vehicle has no visual perception input. It is necessary to troubleshoot the CPU to enable the automatic driving. The driving vehicle regains the visual perception input, which makes the autonomous vehicle unable to obtain the video data of the multi-channel in-vehicle cameras in real time, which affects the planning decision of the autonomous driving vehicle and cannot meet the safety requirements of the autonomous driving.

SUMMARY OF THE INVENTION

In order to solve or partially solve the problems existing in the related art, the present application provides a method, device and system for processing control signals of multi-channel on-board cameras, which can obtain the video stream data of the multi-channel on-board cameras in real time, and reduce the consumption of camera video stream data. Obtain the delay to meet the safety requirements of autonomous driving.

A first aspect of the present application provides a method for processing multi-channel vehicle-mounted camera control signals, the method comprising:

respectively obtain the control signal of the first processor and the control signal of the second processor;

selecting the control signal of the first processor or the control signal of the second processor;

Input the selected control signal of the first processor or the control signal of the second processor into at least one of the multi-channel vehicle cameras, so that the first processor or the second processor The processor controls at least one camera in the multi-channel vehicle-mounted cameras.

Preferably, obtaining the control signal of the first processor and the control signal of the second processor, respectively, includes:

The control signal of the first processor is obtained from the controller through the first I2C, and the control signal of the second processor is obtained from the controller through the second I2C.

Preferably, selecting the control signal of the first processor or the control signal of the second processor includes:

The control signal of the first processor or the control signal of the second processor is selected by an arbiter.

Preferably, the selected control signal of the first processor or the control signal of the second processor is input to at least one of the multi-channel vehicle cameras, so that the first processor or The second-channel processor controls at least one camera of the multi-channel vehicle-mounted cameras, including:

According to the selected control signal of the first processor or the control signal of the second processor, select at least one deserializer among the multiple deserializers through the I2C master controller;

Input the selected control signal of the first processor or the control signal of the second processor to the selected at least one deserializer, so that the first processor or the second processor At least one camera in the multi-channel vehicle-mounted cameras is controlled, and the selected at least one deserializer is connected to at least one camera in the multi-channel vehicle-mounted cameras.

A second aspect of the present application provides a multi-channel vehicle-mounted camera control signal processing device, the device comprising:

a signal acquisition module for respectively acquiring the control signal of the first processor and the control signal of the second processor;

a signal selection module, configured to select the control signal of the first processor or the control signal of the second processor obtained by the signal acquisition module;

The signal transmission module is used for inputting the control signal of the first processor or the control signal of the second processor selected by the signal selection module to at least one of the multi-channel vehicle cameras, so that the The first processor or the second processor controls at least one camera in the multiple vehicle cameras.

Preferably, the signal transmission module is also used for:

According to the control signal of the first processor or the control signal of the second processor selected by the signal selection module, select at least one deserializer among the multiple deserializers through the I2C master controller;

Input the selected control signal of the first processor or the control signal of the second processor to the selected at least one deserializer, so that the first processor or the second processor At least one camera in the multi-channel vehicle-mounted cameras is controlled, and the selected at least one deserializer is connected to at least one camera in the multi-channel vehicle-mounted cameras.

A third aspect of the present application provides a multi-channel vehicle camera control signal processing system, the system includes a first-channel processor, a second-channel processor, and the above-mentioned processing device;

the first processor, configured to send a control signal to the processing device;

the second processor, configured to send a control signal to the processing device;

The processing device is configured to obtain the control signal of the first processor and the control signal of the second processor respectively, and select the control signal of the first processor or the control signal of the second processor, Input the selected control signal of the first processor or the control signal of the second processor into at least one of the multi-channel vehicle cameras, so that the first processor or the second processor The processor controls at least one camera in the multi-channel vehicle-mounted cameras.

Preferably, the processing system further comprises a de-multiplexer;

The processing device is further configured to select at least one channel in the demultiplexer through the I2C master controller according to the selected control signal of the first channel processor or the control signal of the second channel processor a deserializer, which inputs the selected control signal of the first processor or the control signal of the second processor into the selected at least one deserializer;

The multi-channel deserializer is used to connect with the processing device and the multi-channel vehicle camera respectively, so that the first channel processor or the second channel processor controls the multi-channel vehicle camera. at least one camera.

A fourth aspect of the present application provides an electronic device, comprising:

processor; and

A memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.

A fifth aspect of the present application provides a computer-readable storage medium on which executable codes are stored, and when the executable codes are executed by a processor of an electronic device, the processor is caused to execute the above method.

The technical solution provided by this application can include the following beneficial effects:

In the technical solution of the present application, the selected control signal of the first processor or the control signal of the second processor is input to at least one of the multi-channel vehicle cameras, so that the first processor or the second processor Control at least one camera in the multi-channel vehicle camera. The multi-channel vehicle camera is connected to two processors: the first processor and the second processor, and one processor can be selected from the two processors to control the multi-channel vehicle camera. , when one processor fails, the other processor can be switched in time to continue to control the multi-channel vehicle cameras, and the video stream data of the multi-channel vehicle cameras can be obtained in real time, reducing the acquisition delay of the camera video stream data and meeting the requirements of automatic driving. safety requirements.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent from the more detailed description of the exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the exemplary embodiments of the present application. same parts.

1 is a schematic structural diagram of a multi-channel vehicle-mounted camera control signal processing system shown in an embodiment of the present application;

FIG. 2 is another schematic structural diagram of a multi-channel vehicle-mounted camera control signal processing system shown in an embodiment of the present application;

3 is a schematic flowchart of a method for processing multi-channel vehicle-mounted camera control signals according to an embodiment of the present application;

4 is another schematic flowchart of a method for processing a multi-channel vehicle-mounted camera control signal according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an apparatus for processing control signals of a multi-channel vehicle-mounted camera shown in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

Detailed ways

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

The embodiments of the present application provide a method for processing a control signal of a multi-channel vehicle-mounted camera, which can obtain video stream data of the multi-channel vehicle-mounted camera in real time, reduce the acquisition delay of the camera video stream data, and meet the safety requirements of automatic driving.

The technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a multi-channel vehicle camera control signal processing system according to an embodiment of the present application.

Referring to FIG. 1 , a multi-channel vehicle camera control signal processing system includes a first channel processor 110 , a second channel processor 120 , and a processing device 130 .

The first processor 110 is configured to send a control signal to the processing device 130 .

The second processor 120 is configured to send a control signal to the processing device 130 .

In one embodiment, the first processor 110 and the second processor 120 can respectively control multiple on-board cameras through the processing device 130 . The first processor 110 and the second processor 120 are respectively connected to the processing device 130 through independent connecting lines, and send control signals to the processing device 130 independently.

The processing device 130 is configured to obtain the control signal of the first processor 110 and the control signal of the second processor 120 respectively, select the control signal of the first processor 110 or the control signal of the second processor 120, The selected control signal of the first-channel processor 110 or the control signal of the second-channel processor 120 is input to at least one camera of the multi-channel vehicle cameras, so that the first-channel processor 110 or the second-channel processor 120 controls the multi-channel camera At least one of the in-vehicle cameras.

In one embodiment, the processing device 130 is configured to receive the control signal of the first processor 110 and the control signal of the second processor 120 respectively; the control signal of the first processor 110 and the second processor 120 Select the control signal of one of the processors from the control signals to determine the processor that controls the multi-channel on-board cameras; input the control signal of the processor that determines the control of the multi-channel on-board cameras into at least one camera in the multi-channel on-board cameras, so that the first One of the processors 110 and the second processor 120 controls at least one camera of the multi-channel vehicle cameras.

For example, the processing device 130 respectively receives the control signal of the first processor 110 and the control signal of the second processor 120; If the control signal of the first processor 110 is selected, the control signal of the first processor 110 is sent to at least one camera that needs to be controlled in the multi-channel on-board cameras, so as to realize the control of the multi-channel on-board cameras. .

In the technical solution shown in the embodiments of the present application, the selected control signal of the first processor or the control signal of the second processor is input to at least one of the multi-channel on-board cameras, so that the first processor or the second The processor controls at least one camera in the multi-channel vehicle camera, and the multi-channel vehicle camera is connected to two processors: the first processor and the second processor, and one processor can be selected from the two processors to control the multiple processors. When one processor fails, the other processor can be switched to continue to control the multi-channel vehicle cameras, and the video stream data of the multi-channel vehicle cameras can be obtained in real time, reducing the acquisition delay of the camera video stream data, satisfying the Safety requirements for autonomous driving.

FIG. 2 is another schematic structural diagram of a multi-channel vehicle camera control signal processing system according to an embodiment of the present application. FIG. 2 depicts the scheme of the present application in more detail relative to FIG. 1 .

Referring to FIG. 2, a multi-channel vehicle camera control signal processing system includes a first channel processor 110, a second channel processor 120, a processing device 130, a multi-channel deserializer, and a multi-channel power supply device.

In one embodiment, the autonomous vehicle is provided with sixteen on-board cameras, and the sixteen on-board cameras are divided into four groups: a first group of cameras 141 , a second group of cameras 142 , a third group of cameras 143 , and a fourth group of cameras 144 , each group includes four cameras; the four cameras of each group are respectively connected with one deserializer and one power supply device, the four groups of cameras have four deserializers and four power supply devices in total, and the four cameras of the first group of cameras 141 They are respectively connected with the first deserializer 151 and the first power supply 161, the four cameras of the second group of cameras 142 are respectively connected with the second deserializer 152 and the second power supply 162, and the third camera 143 The four-way cameras are respectively connected with the third-way deserializer 153 and the third-way power supply device 163, and the four-way cameras of the fourth group of cameras 144 are respectively connected with the fourth-way deserializer 154 and the fourth-way power supply device 164; Four deserializers such as one deserializer 151, second deserializer 152, third deserializer 153, and fourth deserializer 154 are respectively connected to the processing device 130; the first processor 110, The second processors 120 are respectively connected to the processing devices 130 .

In one embodiment, the first processor 110 includes a first CPU, and the second processor 120 includes a second CPU. The processing device 130 adopts the I2C (Inter-Integrated Circuit, I2C for short) protocol to transmit the control signal of the first CPU and the control signal of the second CPU. The processing device 130 includes an FPGA (Field Programmable Gate Array, Field Programmable Gate Array). The CPU of the first road is connected to the FPGA through the SPI (Serial Peripheral Interface, serial peripheral interface) interface and the I2C interface respectively; the CPU of the second road is connected to the FPGA through the SPI interface and the I2C interface respectively. The first group of SYNCs (Synchronous Interface, synchronous interface) is connected to the first deserializer 151, and is connected to the second deserializer 152 through the second I2C interface and the second group of SYNCs, respectively, through the third I2C interface and the second deserializer. The three groups of SYNCs are connected to the third deserializer 153, and are respectively connected to the fourth deserializer 154 through the fourth I2C interface and the fourth group of SYNCs. The FPGA is connected to the first power supply device 161 through the first I2C interface, and the The second I2C interface is connected to the second power supply device 162, is connected to the third power supply device 163 through the third I2C interface, and is connected to the fourth power supply device 164 through the fourth I2C interface. One power supply device 161 is connected to the four cameras of the first group of cameras 141 through the FAKRA connector 170 of the four interfaces; the second deserializer 152 and the second power supply device 162 are connected to the four cameras through the FAKRA connector 170 of the four interfaces. The four cameras of the second group of cameras 142 are connected; the third-channel deserializer 153 and the third-channel power supply device 163 are connected to the four cameras of the third group of cameras 143 through the FAKRA connectors 170 of the four interfaces; The serializer 154 and the fourth power supply device 164 are connected to the four cameras of the fourth group of cameras 144 through the FAKRA connector 170 of the four interfaces. When the power supply device detects a fault, it can output a low level signal to the FPGA, and the FPGA receives the low power Level signal, read the specific fault type through I2C according to the low level signal.

In one embodiment, the number of SYNCs in each group of SYNCs is the same as the number of cameras connected to each deserializer, that is, if one deserializer is connected to several cameras, several SYNCs are required, and the number of SYNCs and cameras are the same. For example, if the first deserializer is connected to the four cameras of the first group of cameras, four SYNC signals and four SYNCs are required; if one deserializer is connected to two cameras, two SYNC signals and two SYNCs are required. ; If one deserializer is connected to one camera, one SYNC signal and one SYNC are required.

In one embodiment, the first CPU and the second CPU can respectively control the vehicle camera through the FPGA and the deserializer. The I2C master controller of the first CPU sends the control signal to the FPGA as an I2C signal; the I2C master controller of the second CPU sends the control signal to the FPGA as an I2C signal. The FPGA obtains the control signal (I2C signal) of the first CPU from the controller through the first I2C, and obtains the control signal (I2C signal) of the second CPU from the controller through the second I2C.

In one embodiment, the FPGA includes two slave controllers, the first CPU sends a control signal to the FPGA as an I2C signal through the I2C master controller, and the FPGA passes the first slave slave controller (the first I2C slave controller) Obtain the control signal (I2C signal) of the first CPU; the second CPU sends the control signal to the FPGA as an I2C signal through the I2C master controller, and the FPGA obtains the first control signal through the second slave controller (second I2C slave controller). Two-way CPU control signal (I2C signal).

In one embodiment, the arbiter of the FPGA selects from the control signal of the first CPU and the control signal of the second CPU according to the timing of the control signal of the first CPU and the control signal of the second CPU, and selects The control signal of the CPU of the first channel or the control signal of the CPU of the second channel determines that at least one camera of the multi-channel vehicle cameras is controlled by the CPU of the first channel or the CPU of the second channel. The arbiter selects the I2C signal received by the first I2C slave controller or the I2C signal received by the second I2C slave controller according to the timing of the I2C signal received by the first I2C slave controller and the I2C signal received by the second I2C slave controller, That is, the arbiter allows the I2C master controller of the first CPU or the I2C master controller of the second CPU to access the first I2C slave controller and the second I2C slave controller of the FPGA, and blocks the I2C master controller of the second CPU. Or block the I2C master controller of the first CPU to access the I2C master controller of the FPGA through the I2C slave controller, so as to realize the time-sharing access to the first I2C slave controller and the second I2C slave controller. Or the second-way CPU controls at least one camera in the multi-channel vehicle cameras.

For example, the arbiter selects the I2C signal received by the first I2C slave controller according to the timing of the I2C signal received by the first I2C slave controller and the I2C signal received by the second I2C slave controller, allowing the I2C master control of the first CPU The device accesses the first I2C slave controller of the FPGA, blocks the I2C master controller of the second CPU to access the I2C master controller of the FPGA through the I2C slave controller, and determines that at least one camera of the multi-channel vehicle cameras is controlled by the first CPU .

In one embodiment, the FPGA selects at least one deserializer among the multiple deserializers through the I2C main controller of the FPGA according to the control signal of the first CPU or the control signal of the second CPU; The control signal of the first-channel CPU or the control signal of the second-channel CPU is input to the selected at least one deserializer, so that the first-channel CPU or the second-channel CPU controls at least one camera of the multi-channel vehicle-mounted cameras, and the selected at least one channel The deserializer is connected with at least one camera in the multi-channel vehicle cameras.

In one embodiment, the master controller of the FPGA selects 4 addresses by using 2 address bits according to the I2C signal of the first CPU or the I2C signal of the second CPU selected by the arbiter, and selects 4 addresses. One of the four addresses including I2C0, I2C1, I2C2 and I2C3, and one address corresponds to one deserializer and one power supply; send the I2C signal of the first CPU or the I2C signal of the second CPU selected by the arbiter To the deserializer and/or power supply corresponding to the selected address, input the I2C signal of the first CPU or the I2C signal of the second CPU to at least one of the multi-channel vehicle cameras, and the first CPU or the second The two-way CPU controls at least one camera among the multi-channel vehicle cameras.

In one embodiment, the address I2C0 corresponds to the first deserializer 151 and the first power supply device 161, the address I2C1 corresponds to the second deserializer 152 and the second power supply 162, and the address The I2C2 corresponds to the third deserializer 153 and the third power supply device 163 , and the address I2C3 corresponds to the fourth deserializer 154 and the fourth power supply 164 . According to the I2C signal of the first channel CPU selected by the arbiter, the master master controller selects one address among the 4 addresses. If I2C0 is selected among the 4 addresses; the I2C signal of the first channel CPU is sent to the 4-channel SYNC signal to The first-channel deserializer 151, the first-channel deserializer 151 sends the I2C signal of the first-channel CPU to the four-channel cameras of the first group of cameras 141, so as to realize the first-channel CPU to the four-channel cameras of the first group of cameras 141 control.

In the technical solution shown in the embodiments of the present application, the selected control signal of the first processor or the control signal of the second processor is input to at least one of the multi-channel on-board cameras, so that the first processor or the second The processor controls at least one camera in the multi-channel vehicle camera, and the multi-channel vehicle camera is connected to two processors: the first processor and the second processor, and one processor can be selected from the two processors to control the multiple processors. When one of the processors fails, the other processor can continue to control the multi-channel vehicle cameras, and can obtain the video stream data of the multi-channel vehicle cameras in real time, reducing the acquisition delay of the camera video stream data and satisfying the automatic driving. security requirements.

Further, in the technical solutions shown in the embodiments of the present application, the control signal of the first processor or the control signal of the second processor is selected by the arbiter; the multi-channel vehicle cameras are respectively connected to two processors: the first processor. With the second processor, when one processor fails, the other processor can be quickly and seamlessly selected to continue to control the multi-channel vehicle cameras, reducing or even eliminating the delay of the two-channel processors controlling the multi-channel vehicle cameras. The cross access of the processor and the second processor, the multi-channel car camera can respond to the control of the first processor and the second processor in time, and can obtain the video stream data of the multi-channel car camera in real time, reducing the camera speed. The acquisition of video stream data is delayed to meet the safety requirements of autonomous driving.

The present application also provides a method for processing a control signal of a multi-channel vehicle-mounted camera.

FIG. 3 is a schematic flowchart of a method for processing a multi-channel vehicle camera control signal according to an embodiment of the present application.

Referring to Fig. 3, a method for processing control signals of a multi-channel vehicle-mounted camera includes:

In step S310, the control signal of the first processor and the control signal of the second processor are obtained respectively.

In one embodiment, the first processor includes a first CPU, and the second processor includes a second CPU. The first CPU and the second CPU can respectively control the multi-channel vehicle cameras through the FPGA. The first CPU and the second CPU are respectively connected to the FPGA through independent connecting lines, and respectively send control signals to the FPGA independently; the FPGA receives the control signals of the first CPU and the second CPU respectively.

In step S320, the control signal of the first processor or the control signal of the second processor is selected.

In one embodiment, the FPGA selects one of the control signals of the CPU from the control signals of the first CPU and the control signals of the second CPU to determine the CPU that controls the multi-channel vehicle-mounted cameras.

In step S330, input the selected control signal of the first processor or the control signal of the second processor into at least one of the multi-channel vehicle cameras, so that the first processor or the second processor controls At least one of the multiple vehicle cameras.

In one embodiment, the FPGA will determine that the control signal of the CPU controlling the multi-channel vehicle-mounted camera is input to at least one camera in the multi-channel vehicle-mounted camera, so that the first-channel CPU and the second-channel CPU control the multi-channel vehicle-mounted camera. at least one of the cameras.

For example, the FPGA receives the control signal of the first CPU and the control signal of the second CPU respectively; selects the control signal of the first CPU and the control signal of the second CPU according to the set rules; The control signal of one channel of CPU is sent to the control signal of the first channel of CPU to at least one camera to be controlled among the multi-channel vehicle-mounted cameras, so as to realize the control of the multi-channel vehicle-mounted cameras.

In the method for processing the control signal of the multi-channel vehicle-mounted camera shown in the embodiment of the present application, the selected control signal of the first-channel processor or the control signal of the second-channel processor is input into at least one camera of the multi-channel vehicle-mounted cameras, so that the first One processor or the second processor controls at least one camera in the multi-channel vehicle camera, and the multi-channel vehicle camera is connected to two processors: the first processor and the second processor, which can be used in the two processors. One processor is selected to control the multi-channel car cameras. When one processor fails, the other processor can continue to control the multi-channel car cameras, and can obtain the video stream data of the multi-channel car cameras in real time, reducing the camera video stream data. Obtain the delay to meet the safety requirements of autonomous driving.

FIG. 4 is another schematic flowchart of a method for processing a multi-channel vehicle camera control signal according to an embodiment of the present application. FIG. 4 describes the scheme of the present application in more detail with respect to FIG. 3 .

Referring to FIG. 2 and FIG. 4 , a method for processing control signals of a multi-channel vehicle-mounted camera includes:

In step S410, the control signal of the first processor is obtained from the controller through the first I2C, and the control signal of the second processor is obtained from the controller through the second I2C.

In one embodiment, the autonomous vehicle is provided with sixteen on-board cameras, and the sixteen on-board cameras are divided into four groups: a first group of cameras 141 , a second group of cameras 142 , a third group of cameras 143 , and a fourth group of cameras 144 , each group includes four cameras; the four cameras of each group are respectively connected with one deserializer and one power supply device, the four groups of cameras have four deserializers and four power supply devices in total, and the four cameras of the first group of cameras 141 They are respectively connected with the first deserializer 151 and the first power supply 161, the four cameras of the second group of cameras 142 are respectively connected with the second deserializer 152 and the second power supply 162, and the third camera 143 The four-way cameras are respectively connected with the third-way deserializer 153 and the third-way power supply device 163, and the four-way cameras of the fourth group of cameras 144 are respectively connected with the fourth-way deserializer 154 and the fourth-way power supply device 164; Four deserializers such as one deserializer 151, second deserializer 152, third deserializer 153, and fourth deserializer 154 are respectively connected to the processing device 130; the first processor 110, The second processors 120 are respectively connected to the processing devices 130 .

In one embodiment, the first processor 110 includes a first CPU, and the second processor 120 includes a second CPU. The processing device 130 uses the I2C protocol to transmit the control signal of the first CPU and the control signal of the second CPU. The processing device 130 includes an FPGA. The CPU of the first channel and the CPU of the second channel can respectively control the vehicle camera through the FPGA and the deserializer. The I2C master controller of the first CPU sends the control signal to the FPGA as an I2C signal; the I2C master controller of the second CPU sends the control signal to the FPGA as an I2C signal. The FPGA obtains the control signal (I2C signal) of the first CPU from the controller through the first I2C, and obtains the control signal (I2C signal) of the second CPU from the controller through the second I2C.

In step S420, the control signal of the first processor or the control signal of the second processor is selected by the arbiter.

In one embodiment, the arbiter of the FPGA selects from the control signal of the first CPU and the control signal of the second CPU according to the timing of the control signal of the first CPU and the control signal of the second CPU, and selects The control signal of the CPU of the first channel or the control signal of the CPU of the second channel determines that at least one camera of the multi-channel vehicle cameras is controlled by the CPU of the first channel or the CPU of the second channel. The arbiter selects the I2C signal received by the first I2C slave controller or the I2C signal received by the second I2C slave controller according to the timing of the I2C signal received by the first I2C slave controller and the I2C signal received by the second I2C slave controller, That is, the arbiter allows the I2C master controller of the first CPU or the I2C master controller of the second CPU to access the first I2C slave controller and the second I2C slave controller of the FPGA, and blocks the I2C master controller of the second CPU. Or block the I2C master controller of the first CPU to access the I2C master controller of the FPGA through the I2C slave controller, so as to realize the time-sharing access to the first I2C slave controller and the second I2C slave controller. Or the second-way CPU controls at least one camera in the multi-channel vehicle cameras.

In step S430, according to the selected control signal of the first processor or the control signal of the second processor, select at least one deserializer among the multiple deserializers through the I2C master controller.

In one embodiment, the master controller of the FPGA selects 4 addresses by using 2 address bits according to the I2C signal of the first CPU or the I2C signal of the second CPU selected by the arbiter, and selects 4 addresses. One of the four addresses includes I2C0, I2C1, I2C2 and I2C3, and one address corresponds to one deserializer and one power supply.

In step S440, the control signal of the selected first processor or the control signal of the second processor is input to the selected at least one deserializer, so that the first processor or the second processor controls the multiplexer At least one camera in the on-board cameras, and the selected at least one deserializer is connected to at least one camera in the multi-channel on-board cameras.

In one embodiment, the master controller of the FPGA sends the I2C signal of the first CPU or the I2C signal of the second CPU selected by the arbiter to the deserializer and/or power supply corresponding to the selected address, The I2C signal of the first CPU or the I2C signal of the second CPU is input to at least one camera of the multi-channel vehicle cameras, and the first CPU or the second CPU controls at least one camera of the multi-channel vehicle cameras.

In one embodiment, the address I2C0 corresponds to the first deserializer 151 and the first power supply device 161, the address I2C1 corresponds to the second deserializer 152 and the second power supply 162, and the address The I2C2 corresponds to the third deserializer 153 and the third power supply device 163 , and the address I2C3 corresponds to the fourth deserializer 154 and the fourth power supply 164 . According to the I2C signal of the first channel CPU selected by the arbiter, the master master controller selects one address among the 4 addresses. If I2C0 is selected among the 4 addresses; the I2C signal of the first channel CPU is sent to the 4-channel SYNC signal to The first-channel deserializer 151, the first-channel deserializer 151 sends the I2C signal of the first-channel CPU to the four-channel cameras of the first group of cameras 141, so as to realize the first-channel CPU to the four-channel cameras of the first group of cameras 141 control.

In the method for processing the control signal of the multi-channel vehicle-mounted camera shown in the embodiment of the present application, the selected control signal of the first-channel processor or the control signal of the second-channel processor is input into at least one camera of the multi-channel vehicle-mounted cameras, so that the first One processor or the second processor controls at least one camera in the multi-channel vehicle camera, and the multi-channel vehicle camera is connected to two processors: the first processor and the second processor, which can be used in the two processors. One processor is selected to control the multi-channel car cameras. When one processor fails, the other processor can continue to control the multi-channel car cameras, and can obtain the video stream data of the multi-channel car cameras in real time, reducing the camera video stream data. Obtain the delay to meet the safety requirements of autonomous driving.

Further, in the method for processing multi-channel vehicle-mounted camera control signals shown in the embodiments of the present application, the control signal of the first processor or the control signal of the second processor is selected by the arbiter; the multi-channel vehicle cameras are respectively connected to two channels for processing Controller: The first processor and the second processor, when one processor fails, the other processor can be quickly and seamlessly selected to continue to control the multi-channel vehicle cameras, reducing or even eliminating the need for two processors to control the multi-channel vehicle cameras. The delay of the camera realizes the cross access of the first processor and the second processor. The multi-channel vehicle camera can respond to the control of the first processor and the second processor in time, and can obtain the multi-channel vehicle camera in real time. The video stream data of the camera reduces the acquisition delay of the video stream data of the camera and meets the safety requirements of autonomous driving.

Corresponding to the foregoing application function implementation method embodiments, the present application further provides a multi-channel vehicle camera control signal processing apparatus, electronic equipment, and corresponding embodiments.

FIG. 5 is a schematic structural diagram of an apparatus for processing a control signal of a multi-channel vehicle camera according to an embodiment of the present application.

Referring to FIG. 5 , a multi-channel vehicle camera control signal processing device includes a signal acquisition module 510 , a signal selection module 520 , and a signal transmission module 530 .

The signal obtaining module 510 is configured to obtain the control signal of the first processor and the control signal of the second processor respectively.

The signal selection module 520 is configured to select the control signal of the first processor or the control signal of the second processor obtained by the signal acquisition module 510 .

The signal transmission module 530 is used to input the control signal of the first processor or the control signal of the second processor selected by the signal selection module 520 into at least one of the multi-channel vehicle cameras, so that the first processor or The second-channel processor controls at least one camera in the multi-channel vehicle cameras.

In the technical solution shown in the embodiments of the present application, the selected control signal of the first processor or the control signal of the second processor is input to at least one of the multi-channel on-board cameras, so that the first processor or the second The processor controls at least one camera in the multi-channel vehicle camera, and the multi-channel vehicle camera is connected to two processors: the first processor and the second processor, and one processor can be selected from the two processors to control the multiple processors. When one of the processors fails, the other processor can continue to control the multi-channel vehicle cameras, and can obtain the video stream data of the multi-channel vehicle cameras in real time, reducing the acquisition delay of the camera video stream data and satisfying the automatic driving. security requirements.

In one embodiment, the signal obtaining module 510 is further configured to obtain the control signal of the first processor from the controller through the first I2C, and obtain the control signal of the second processor through the second I2C from the controller.

The signal selection module 520 is further configured to select the control signal of the first processor or the control signal of the second processor obtained by the signal acquisition module 510 through the arbiter.

The signal transmission module 530 is further configured to select at least one channel for deserialization in the multi-channel deserializer through the I2C master controller according to the control signal of the first channel processor or the control signal of the second channel processor selected by the signal selection module 520 input the control signal of the selected first-channel processor or the control signal of the second-channel processor into the selected at least one-channel deserializer, so that the first-channel processor or the second-channel processor can control the multi-channel vehicle camera At least one camera of the selected at least one deserializer is connected to at least one camera of the multi-channel vehicle-mounted cameras.

Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be described in detail here.

FIG. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

Referring to FIG. 6 , an electronic device 600 includes a memory 610 and a processor 620 .

The processor 620 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-available processor Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Memory 610 may include various types of storage units, such as system memory, read only memory (ROM), and persistent storage. The ROM may store static data or instructions required by the processor 620 or other modules of the computer. Persistent storage devices may be readable and writable storage devices. Permanent storage may be a non-volatile storage device that does not lose stored instructions and data even if the computer is powered off. In some embodiments, persistent storage devices employ mass storage devices (eg, magnetic or optical disks, flash memory) as persistent storage devices. In other embodiments, persistent storage may be a removable storage device (eg, a floppy disk, an optical drive). System memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. System memory can store some or all of the instructions and data that the processor needs at runtime. Additionally, memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (eg, DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic and/or optical disks may also be employed. In some embodiments, memory 610 may include a removable storage device that is readable and/or writable, such as a compact disc (CD), a read-only digital versatile disc (eg, DVD-ROM, dual-layer DVD-ROM), Read-only Blu-ray Disc, Ultra-Density Disc, Flash Card (eg SD Card, Min SD Card, Micro-SD Card, etc.), Magnetic Floppy Disk, etc. Computer readable storage media do not contain carrier waves and transient electronic signals transmitted over wireless or wire.

Executable codes are stored on the memory 610, and when the executable codes are processed by the processor 620, the processor 620 can be caused to execute some or all of the above-mentioned methods.

Furthermore, the method according to the present application can also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps in the above method of the present application.

Alternatively, the present application can also be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) on which executable codes (or computer programs or computer instruction codes) are stored, When the executable code (or computer program or computer instruction code) is executed by the processor of the electronic device (or server, etc.), the processor is caused to perform some or all of the steps of the above method according to the present application.

Various embodiments of the present application have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A processing method of multi-channel vehicle-mounted camera control signals is characterized by comprising the following steps:

respectively obtaining a control signal of a first path processor and a control signal of a second path processor;

selecting a control signal of the first path processor or a control signal of the second path processor;

and inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into at least one channel of cameras in a plurality of channels of vehicle-mounted cameras, so that the first channel processor or the second channel processor controls at least one channel of cameras in the plurality of channels of vehicle-mounted cameras.

2. The method of claim 1, wherein obtaining the control signal of the first channel processor and the control signal of the second channel processor respectively comprises:

the control signal of the first path processor is obtained from the controller through a first I2C, and the control signal of the second path processor is obtained from the controller through a second I2C.

3. The method of claim 1, wherein selecting the control signal of the first-way processor or the control signal of the second-way processor comprises:

and selecting the control signal of the first path processor or the control signal of the second path processor through an arbiter.

4. The method according to claim 1, wherein the inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into at least one of the plurality of onboard cameras, so that the first channel processor or the second channel processor controls the at least one of the plurality of onboard cameras, comprises:

selecting at least one path of deserializers in the multipath deserializers through an I2C main controller according to the selected control signal of the first path processor or the selected control signal of the second path processor;

and inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into the selected at least one channel of deserializer so that the first channel processor or the second channel processor controls at least one channel of cameras in the multi-channel vehicle-mounted cameras, and the selected at least one channel of deserializer is connected with at least one channel of cameras in the multi-channel vehicle-mounted cameras.

5. The utility model provides a processing apparatus of multichannel vehicle-mounted camera control signal which characterized in that includes:

the signal acquisition module is used for respectively acquiring a control signal of the first channel processor and a control signal of the second channel processor;

the signal selection module is used for selecting the control signal of the first channel processor or the control signal of the second channel processor obtained by the signal acquisition module;

and the signal transmission module is used for inputting the control signal of the first channel processor or the control signal of the second channel processor selected by the signal selection module into at least one channel of cameras in a plurality of channels of vehicle-mounted cameras so that the first channel processor or the second channel processor controls at least one channel of cameras in the plurality of channels of vehicle-mounted cameras.

6. The processing apparatus as claimed in claim 5, wherein the signal transmission module is further configured to:

selecting at least one path of deserializers in the multi-path deserializers through an I2C main controller according to the control signal of the first path processor or the control signal of the second path processor selected by the signal selection module;

and inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into the selected at least one channel of deserializer so that the first channel processor or the second channel processor controls at least one channel of cameras in the multi-channel vehicle-mounted cameras, and the selected at least one channel of deserializer is connected with at least one channel of cameras in the multi-channel vehicle-mounted cameras.

7. A processing system of multi-channel vehicle-mounted camera control signals is characterized by comprising a first channel processor, a second channel processor and the processing device according to claim 5 or 6;

the first path processor is used for sending a control signal to the processing device;

the second path processor is used for sending a control signal to the processing device;

the processing device is used for respectively obtaining a control signal of a first channel processor and a control signal of a second channel processor, selecting the control signal of the first channel processor or the control signal of the second channel processor, and inputting the selected control signal of the first channel processor or the selected control signal of the second channel processor into at least one channel of cameras in the multiple channels of vehicle-mounted cameras, so that the first channel processor or the second channel processor controls at least one channel of cameras in the multiple channels of vehicle-mounted cameras.

8. The processing system of claim 7, further comprising a de-serializer;

the processing device is further configured to select at least one deserializer in the de-serializer multiplexer through an I2C main controller according to the selected control signal of the first channel processor or the selected control signal of the second channel processor, and input the selected control signal of the first channel processor or the selected control signal of the second channel processor into the selected at least one deserializer;

and the multi-path deserializer is used for being respectively connected with the processing device and the multi-path vehicle-mounted cameras so that the first path processor or the second path processor controls at least one path of cameras in the multi-path vehicle-mounted cameras.

9. An electronic device, comprising:

a processor; and

a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-4.

10. A computer-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-4.

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