CN114885103A - Method and device for processing video data of multiple paths of vehicle-mounted cameras - Google Patents
Method and device for processing video data of multiple paths of vehicle-mounted cameras Download PDFInfo
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- 238000007781 pre-processing Methods 0.000 claims abstract description 28
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- 238000003672 processing method Methods 0.000 claims description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The application relates to a method and a device for processing video data of a plurality of paths of vehicle-mounted cameras. The method comprises the following steps: preprocessing video data of a plurality of paths of vehicle-mounted cameras to obtain video data with a set format; and transmitting the video data with the set format to a first path processor and a second path processor by adopting a set mode so that the first path processor and the second path processor respectively store the video data with the set format. According to the scheme, double backup of video data can be achieved, and redundancy safety of automatic driving is met.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a method and a device for processing video data of a plurality of paths of vehicle-mounted cameras.
Background
In the related art, the automatic driving vehicle usually adopts multiple cameras to collect the driving state and the surrounding environment information of the automatic driving vehicle, and the video data of the multiple cameras is an important information source of the automatic driving vehicle.
In the related art, a plurality of vehicle-mounted cameras are controlled by a Central Processing Unit (CPU), and video data of the vehicle-mounted cameras are backed up to the CPU. When a problem occurs in a CPU for controlling the camera, the automatic driving vehicle has no visual perception input, and the redundant safety of automatic driving cannot be met.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method and a device for processing video data of a multi-channel vehicle-mounted camera, which can realize double backup of the video data and meet the redundancy safety of automatic driving.
The application provides a method for processing video data of multiple paths of vehicle-mounted cameras in a first aspect, and the method comprises the following steps:
preprocessing video data of a plurality of paths of vehicle-mounted cameras to obtain video data with a set format;
and transmitting the video data with the set format to a first path processor and a second path processor by adopting a set mode so that the first path processor and the second path processor respectively store the video data with the set format.
Preferably, the preprocessing the video data of the multiple paths of vehicle-mounted cameras to obtain the video data with the set format includes:
and performing deserializing processing on the video data of the multiple paths of vehicle-mounted cameras to obtain the video data in a parallel format.
Preferably, the transmitting the video data with the set format to the first path processor and the second path processor by using the set mode includes:
and converting the video data with the set format into a CSI signal, and transmitting the CSI signal of the video data to the first path processor and the second path processor by adopting a set mode.
Preferably, the transmitting the CSI signal of the video data to the first channel processor and the second channel processor in the set mode includes:
and transmitting the CSI signals of the video data to the first path processor and the second path processor by adopting a copy mode.
This application second aspect provides a multichannel vehicle-mounted camera video data's processing apparatus, the device includes:
the preprocessing module is used for preprocessing the video data of the multiple paths of vehicle-mounted cameras to obtain video data with a set format;
and the transmission module is used for transmitting the video data with the set format obtained by the preprocessing module to the first path processor and the second path processor by adopting a set mode so that the first path processor and the second path processor respectively store the video data with the set format.
Preferably, the preprocessing module is further configured to perform deserialization processing on the video data of the multiple paths of vehicle-mounted cameras to obtain video data in a parallel format.
Preferably, the apparatus further comprises:
and the conversion module is used for converting the video data with the set format obtained by the preprocessing module into a CSI signal.
Preferably, the transmission module is further configured to transmit the CSI signals of the video data converted by the conversion module to the first path processor and the second path processor by using a copy mode, so that the first path processor and the second path processor respectively store the video data in the set format.
A third aspect of the present application provides 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 as described above.
A fourth aspect of the present application provides 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 as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the technical scheme, the video data obtained by the multiple paths of vehicle-mounted cameras are preprocessed to obtain the video data with the set format, the video data with the set format is transmitted to the first path processor and the second path processor in the set mode, so that the first path processor and the second path processor respectively store the video data with the set format, double backup of the video data can be achieved, when one path processor fails, the video data of the other path processor can be used, and redundancy safety of automatic driving can be met.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart of a method for processing multiple paths of vehicle-mounted camera video data according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a vehicle-mounted camera system of a method for processing multiple paths of vehicle-mounted camera video data according to an embodiment of the present application;
fig. 3 is another schematic flow chart of a processing method for multiple paths of vehicle-mounted camera video data according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a processing device for multiple paths of vehicle-mounted camera video data according to an embodiment of the present application;
fig. 5 is another schematic structural diagram of a processing apparatus for multiple onboard camera video data according to 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 Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application 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. It should also be understood that the term "and/or" as used herein refers to and encompasses 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 herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The embodiment of the application provides a processing method of multi-channel vehicle-mounted camera video data, which can realize double backup of the video data and meet the redundancy safety of automatic driving.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a processing method for multiple onboard camera video data according to an embodiment of the present application.
Referring to fig. 1, a method for processing video data of multiple onboard cameras includes:
in step S101, the video data of the multiple onboard cameras are preprocessed to obtain video data with a set format.
In an embodiment, the video data obtained by synchronously exposing the multiple onboard cameras can be preprocessed to obtain the video data in a serial format or a parallel format.
In step S102, the video data with the set format is transmitted to the first path processor and the second path processor by using the set mode, so that the first path processor and the second path processor respectively store the video data with the set format.
In one embodiment, the video data in serial format or parallel format may be transmitted to the first-way processor and the second-way processor, respectively; the first path processor and the second path processor respectively receive the video data and respectively store the video data.
The method for processing the video data of the multiple paths of vehicle-mounted cameras comprises the steps of preprocessing the video data obtained by the multiple paths of vehicle-mounted cameras to obtain the video data with the set format, transmitting the video data with the set format to the first path processor and the second path processor in the set mode, enabling the first path processor and the second path processor to store the video data with the set format respectively, achieving double backup of the video data, enabling the video data of the other path processor to be used when one path processor has a problem, and meeting redundancy safety of automatic driving.
Fig. 2 is a schematic structural diagram of a vehicle-mounted camera system of a method for processing multiple paths of vehicle-mounted camera video data according to an embodiment of the present application.
As shown in fig. 2, the vehicle-mounted camera system according to the embodiment of the present application includes sixteen paths of vehicle-mounted cameras, four paths of deserializers, and two paths of processors; divide sixteen way on-vehicle cameras into four groups: a first group of cameras 311, a second group of cameras 312, a third group of cameras 313 and a fourth group of cameras 314, wherein each group comprises four paths of cameras; the four cameras of each group are connected with one deserializer, the four deserializers are four groups of cameras, the four cameras of the first group of cameras 311 are respectively connected with the first deserializer 321, the four cameras of the second group of cameras 312 are respectively connected with the second deserializer 322, the four cameras of the third group of cameras 313 are respectively connected with the third deserializer 323, and the four cameras of the fourth group of cameras 314 are respectively connected with the fourth deserializer 324; the first deserializer 321, the second deserializer 322, the third deserializer 323, and the fourth deserializer 324 are respectively connected to the first processor 331 and the second processor 332.
In one embodiment, the sixteen-way vehicle-mounted cameras are divided into four groups: a first group of cameras 311, a second group of cameras 312, a third group of cameras 313 and a fourth group of cameras 314, wherein each group comprises four paths of cameras; the four cameras of each group are connected with one deserializer through FAKRA connectors, four groups of cameras are four deserializers, the four cameras of the first group of cameras 311 are connected with the first deserializer 321 through FAKRA connectors of four interfaces, the four cameras of the second group of cameras 312 are connected with the second deserializer 322 through FAKRA connectors of four interfaces, the four cameras of the third group of cameras 313 are connected with the third deserializer 323 through FAKRA connectors of four interfaces, and the four cameras of the fourth group of cameras 314 are connected with the fourth deserializer 324 through FAKRA connectors of four interfaces; the four deserializers, such as the first deserializer 321, the second deserializer 322, the third deserializer 323, and the fourth deserializer 324, are connected to the first processor 331 and the second processor 332 through CSI (Channel State Information) interfaces, respectively.
Hereinafter, a method for processing multiple onboard camera video data according to the present application will be described by taking an example in which video data of the first group of cameras 311 is stored in the first path processor 331 and the second path processor 332, respectively.
Fig. 3 is another schematic flow chart of a processing method for multiple onboard camera video data according to an embodiment of the present application. Fig. 3 describes the solution of the present application in more detail with respect to fig. 1.
Referring to fig. 2 and 3, a method for processing video data of multiple onboard cameras, applied to an onboard camera system shown in fig. 3, includes:
in step S201, the video data of the multiple onboard cameras are deserialized to obtain video data in a parallel format.
In an embodiment, video data shot by the four cameras of the first group of cameras 311 through synchronous exposure can be input to the first deserializer 321; the video data of the four cameras of the first group of cameras 311 are deserialized by the first deserializer 321, and video data in a parallel format is obtained.
In step S202, the video data in parallel format is converted into a CSI signal.
In an embodiment, the video data in the parallel format obtained by the first deserializer 321 may be subjected to signal conversion to obtain a CSI signal of the video data.
In step S203, the CSI signals of the video data are transmitted to the first and second path processors in the copy mode so that the first and second path processors store the video data in the parallel format, respectively.
In one embodiment, the first path processor 331 includes a first path CPU, and the second path processor 332 includes a second path CPU. The CSI signals of the video data may be transmitted to the first path of CPU and the second path of CPU by connecting the first path of deserializer 321 with the CSI interfaces of the first path of CPU and the second path of CPU respectively and by adopting COPY mode; the first path of CPU and the second path of CPU respectively store the video data in the storage module.
In an embodiment, the first path of CPU and the second path of CPU may mount the same memory module, or may mount different memory modules respectively.
The video data of the four cameras of the three cameras of the second group of cameras 312, the third group of cameras 313 and the fourth group of cameras 314 can be stored in the first path of CPU and the second path of CPU respectively according to the processing mode of the video data of the four cameras of the first group of cameras 311.
The method for processing the video data of the multiple paths of vehicle-mounted cameras comprises the steps of preprocessing the video data obtained by the multiple paths of vehicle-mounted cameras to obtain the video data with the set format, transmitting the video data with the set format to the first path processor and the second path processor in the set mode, enabling the first path processor and the second path processor to store the video data with the set format respectively, achieving double backup of the video data, enabling the video data of the other path processor to be used when one path processor has a problem, and meeting redundancy safety of automatic driving.
Further, the method for processing the video data of the multi-channel vehicle-mounted camera according to the embodiment of the application converts the video data in the parallel format into the CSI signal, and transmits the CSI signal of the video data to the first channel processor and the second channel processor by using the copy mode, so that the first channel processor and the second channel processor respectively store the video data in the parallel format, and the security and the transmission rate of video data transmission can be improved, so that the video data respectively stored in the first channel processor and the second channel processor are consistent, and double backup of the video data can be realized.
Corresponding to the embodiment of the application function implementation method, the application also provides a processing device of the multi-channel vehicle-mounted camera video data, electronic equipment and a corresponding embodiment.
Fig. 4 is a schematic structural diagram of a device for processing multiple pieces of vehicle-mounted camera video data according to an embodiment of the present application.
Referring to fig. 4, the processing device for the video data of the multiple onboard cameras comprises a preprocessing module 401 and a transmission module 402.
The preprocessing module 401 is configured to preprocess video data of multiple vehicle-mounted cameras to obtain video data in a set format.
In an embodiment, the preprocessing module 401 may preprocess video data obtained by synchronous exposure of multiple onboard cameras, so as to obtain video data in a serial format or a parallel format.
A transmission module 402, configured to transmit the video data in the set format obtained by the preprocessing module 401 to the first path processor and the second path processor in the set mode, so that the first path processor and the second path processor respectively store the video data in the set format.
In an embodiment, the transmission module 402 may transmit the video data in serial format or parallel format obtained by the preprocessing module 401 to the first-path processor and the second-path processor, respectively; the first path processor and the second path processor respectively receive the video data and respectively store the video data.
According to the technical scheme, the video data obtained by the multiple paths of vehicle-mounted cameras are preprocessed to obtain the video data with the set format, the video data with the set format is transmitted to the first path processor and the second path processor in the set mode, so that the first path processor and the second path processor respectively store the video data with the set format, double backup of the video data can be achieved, when one path processor has a problem, the video data of the other path processor can be used, and redundancy safety of automatic driving can be met.
Fig. 5 is another schematic structural diagram of a processing apparatus for multiple onboard camera video data according to an embodiment of the present application.
Referring to fig. 2 and 5, the processing device for the video data of the multiple onboard cameras comprises a preprocessing module 401, a transmission module 402 and a conversion module 501.
The preprocessing module 401 is further configured to perform deserializing on the video data of the multiple onboard cameras to obtain video data in a parallel format.
In an embodiment, the preprocessing module 401 may input video data captured by the four cameras of the first group of cameras 311 through synchronous exposure to the first deserializer 321; the video data of the four cameras of the first group of cameras 311 are deserialized by the first deserializer 321, and video data in a parallel format is obtained.
A converting module 501, configured to convert the video data with the set format obtained by the preprocessing module 401 into a CSI signal.
In an embodiment, the conversion module 501 may perform signal conversion on the video data in the parallel format obtained by the preprocessing module 401 through the first deserializer 321 to obtain a CSI signal of the video data.
The transmission module 402 is further configured to transmit the CSI signals of the video data converted by the conversion module 501 to the first path processor and the second path processor by using a copy mode, so that the first path processor and the second path processor respectively store the video data with the set format.
In an embodiment, the transmission module 402 transmits the CSI signals of the video data converted by the conversion module 501 to the first path processor 331 and the second path processor 332 by connecting the first path deserializer 321 with CSI interfaces of the first path processor 331 and the second path processor 332 respectively and adopting a COPY mode; the first and second path processors 331 and 332 respectively store the video data in the storage module.
The preprocessing module 401, the transmission module 402 and the conversion module 501 may respectively store the video data of the four paths of cameras of the three paths of cameras of the second group of cameras 312, the third group of cameras 313 and the fourth group of cameras 314 in the first path processor 331 and the second path processor 332 according to the processing manner of the video data of the four paths of cameras of the first group of cameras 311.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated 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 (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 610 may include various types of storage units such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions for the processor 620 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at run-time. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. In some embodiments, memory 610 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 610 has stored thereon executable code that, when processed by the processor 620, may cause the processor 620 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many 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 is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to 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 video data of a plurality of paths of vehicle-mounted cameras is characterized by comprising the following steps:
preprocessing video data of a plurality of paths of vehicle-mounted cameras to obtain video data with a set format;
and transmitting the video data with the set format to a first path processor and a second path processor by adopting a set mode so that the first path processor and the second path processor respectively store the video data with the set format.
2. The method according to claim 1, wherein the preprocessing the video data of the multiple onboard cameras to obtain the video data with the set format comprises:
and performing deserializing processing on the video data of the multiple paths of vehicle-mounted cameras to obtain the video data in a parallel format.
3. The method of claim 1, wherein transmitting the formatted video data to the first and second channel processors in a set mode comprises:
and converting the video data with the set format into a CSI signal, and transmitting the CSI signal of the video data to the first path processor and the second path processor by adopting a set mode.
4. The method of claim 3, wherein transmitting the CSI signal of the video data to the first and second channel processors in the set mode comprises:
and transmitting the CSI signals of the video data to the first path processor and the second path processor by adopting a copy mode.
5. The utility model provides a processing apparatus of multichannel vehicle-mounted camera video data which characterized in that includes:
the preprocessing module is used for preprocessing the video data of the multiple paths of vehicle-mounted cameras to obtain video data with a set format;
and the transmission module is used for transmitting the video data with the set format obtained by the preprocessing module to the first path processor and the second path processor by adopting a set mode so that the first path processor and the second path processor respectively store the video data with the set format.
6. The apparatus of claim 5, wherein: the preprocessing module is also used for deserializing the video data of the multiple paths of vehicle-mounted cameras to obtain the video data in a parallel format.
7. The apparatus of claim 5, further comprising:
and the conversion module is used for converting the video data with the set format obtained by the preprocessing module into a CSI signal.
8. The apparatus of claim 7, wherein: the transmission module is further configured to transmit the CSI signals of the video data converted by the conversion module to the first path processor and the second path processor by using a copy mode, so that the first path processor and the second path processor store the video data in the set format, respectively.
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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