WO2022111225A1 - 行车影像显示方法、装置及平台、存储介质、嵌入式设备 - Google Patents
行车影像显示方法、装置及平台、存储介质、嵌入式设备 Download PDFInfo
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Definitions
- the present invention relates to the technical field of video display, and in particular, to a driving image display method, device and platform, storage medium and embedded device.
- the traditional driving image system uses a single-channel camera installed at the rear of the vehicle, which can only cover the area with limited viewing angle around the rear of the vehicle. Look around the information around the vehicle, which will greatly increase the driver's driving safety hazards.
- the new panoramic driving image system uses multi-channel cameras to perceive information about the surrounding environment of the vehicle, and obtains the vehicle driving through a 360-degree (or "360°") plane two-dimensional (2D) mode or a 360° three-dimensional (3D) stereo mode. information.
- the output frame rate of the common camera (Camera) acquisition device on the market is 30 frames per second (Frames Per Second, referred to as fps), the frame interval is about 33 milliseconds (ms), and the output format is YUV.
- YUV is a color coding method
- "Y" represents the brightness (Luminance or Luma), that is, the grayscale value
- "U" and "V” represent the chromaticity.
- the current new panoramic driving image system can only pass the 360° plane 2D mode, cannot perceive the 360° 3D environment information of the vehicle, or can only display the 360° 3D mode, which is not compatible with the 2D plane mode.
- the embedded device is affected by performance and power consumption, and cannot achieve full power and long-term operation on the vehicle platform. Therefore, running 2D/3D algorithms directly without optimization on the embedded platform will The frame rate cannot reach 30fps. At this time, displaying 2D and 3D images at the same time will reduce the display frame rate of 2D/3D, resulting in display delay, and the real-time display performance cannot be satisfied.
- the delay may cause distance offset, which in turn will affect the driver's judgment and endanger driving safety.
- the technical problem solved by the present invention is how to solve the problems of reduced display frame rate and display delay when the existing panoramic driving image system simultaneously displays 2D and 3D pictures.
- an embodiment of the present invention provides a driving image display method, which includes: when 2D environment information and 3D environment information are displayed synchronously, acquiring 2D display parameters and 3D display parameters, wherein the 2D display parameters are display parameters. Parameters when 2D environment information is displayed, and the 3D display parameters are parameters when displaying 3D environment information; obtain operation information of the CPU, where the CPU includes multiple cores; according to the 2D display parameters, the 3D display parameters and/or The operating information of the CPU adjusts the frequency of the CPU and/or changes the execution core, where the execution core is the CPU core running the target thread, and the target thread is the thread for processing 2D environment information and/or 3D environment information .
- the running information of the CPU includes the temperature of the CPU and/or the frequency of the CPU.
- the 2D display parameters include a display frame rate for displaying 2D environment information
- the 3D display parameters include a display frame rate for displaying 3D environment information.
- the CPU core includes at least one large core and several small cores
- adjusting the execution core includes: if the set CPU frequency value needs to be adjusted to the maximum frequency, and the temperature of the CPU is within the first preset time Increase the internal value, and change the execution core to a large core.
- the method further includes: if the temperature of the CPU drops within a second preset time, changing the execution core to a small core.
- freq new is the CPU frequency to be set
- freq max is the maximum frequency
- K is the excess factor
- load is the current load of the CPU
- load max is the maximum load of the CPU
- P is the compensation factor
- CPU temp is the CPU temperature
- fps 2D/3D is the display frame rate of 2D/3D.
- the method further includes: controlling the CPU cores not executing tasks to enter a light sleep mode.
- the method before adjusting the execution core according to the 2D display parameters, the 3D display parameters and/or the running information of the CPU, the method further includes: acquiring the 2D display parameters and the 3D display parameters from the application layer; to obtain the temperature of the CPU and the frequency of the CPU.
- the target thread at least includes: a captured image acquisition thread, a 2D algorithm processing thread and a 3D algorithm processing thread.
- the method further includes: acquiring captured images from several cameras of the vehicle through the captured image acquisition, and storing the acquired captured images in a buffer area, where the captured images include 2D images and 3D images; each time At least one frame of 2D image is captured from the buffer area and sent to the 2D algorithm processing thread, and the 2D algorithm processing thread processes the 2D image to obtain displayable 2D environment information;
- the buffer area intercepts at least one frame of 3D image and sends it to the 3D algorithm processing thread, and the 3D algorithm processing thread processes the 3D image to obtain displayable 3D environment information.
- the method further includes: defining at least 5 pointers, the pointers include a first pointer, a second pointer, a third pointer, a fourth pointer and a fifth pointer; intercepting at least When a frame of 2D image is taken, the first pointer and the second pointer respectively point to the start position and the stop position of the current capture; each time at least one frame of 3D image is captured from the buffer, the third pointer and the fourth pointer respectively point to The start position and stop position of this interception; the fifth pointer points to the maximum capacity position of the cache area, and the positions pointed to by the first pointer, the second pointer, the third pointer and the fourth pointer cannot exceed the fifth The location the pointer points to.
- Zero-Copy technology in at least one of the following operations: acquiring a captured image, capturing a 2D image, and capturing a 3D image.
- the method further includes: receiving control information sent by the vehicle-mounted central control and/or the gear controller; and synchronously displaying the 2D environment information and the 3D environment information according to the control signal.
- the size of the area where the 2D environment information is displayed is smaller than the size of the area where the 3D environment information is displayed.
- An embodiment of the present invention further provides a driving image display device, the device includes: a parameter acquisition module, configured to acquire 2D display parameters and 3D display parameters when displaying 2D environment information and 3D environment information synchronously, wherein the 2D display parameters
- the display parameter is a parameter when displaying 2D environment information
- the 3D display parameter is a parameter when displaying 3D environment information
- the CPU operation information acquisition module is used to acquire the operation information of the CPU, and the CPU includes a plurality of cores; the core adjustment is performed.
- the target thread is a thread for processing 2D environment information and/or 3D environment information.
- An embodiment of the present invention further provides a storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of any one of the methods are executed.
- An embodiment of the present invention further provides an embedded device, the CPU of the embedded device is multi-core, the embedded device includes the driving image display device, or the embedded device may include a memory and a processor, so A computer program executable on the processor is stored in the memory, and the processor executes the steps of any one of the methods when the processor runs the computer program.
- An embodiment of the present invention further provides a driving image display platform, the platform includes a plurality of cameras for collecting environmental information of a vehicle and acquiring captured images, an embedded device, and a vehicle-mounted display for displaying 2D environmental information and/or 3D environmental information terminal.
- An embodiment of the present invention provides a driving image display method, comprising: acquiring 2D display parameters and 3D display parameters when displaying 2D environment information and 3D environment information synchronously, wherein the 2D display parameters are the values obtained when displaying 2D environment information.
- parameters, the 3D display parameters are parameters when displaying 3D environment information; obtain operation information of the CPU, the CPU includes multiple cores; according to the 2D display parameters, the 3D display parameters and/or the operation of the CPU The information adjusts the frequency of the CPU and/or changes the execution core, where the execution core is a CPU core running a target thread, and the target thread is a thread for processing 2D environment information and/or 3D environment information.
- the present invention provides a solution for displaying 2D and 3D images at the same time.
- the implementation of the 2D algorithm and the 3D algorithm can be monitored in real time.
- the execution core is adjusted to ensure hardware support, so as to ensure the frame rate and real-time performance of 2D/3D display, and solve the problem of existing panoramic driving images.
- the display frame rate is reduced and the display delay is the problem.
- the captured image acquisition thread, the 2D algorithm processing thread and the 3D algorithm processing thread are divided into three independent threads, so as to avoid mutual interference between the threads and improve the processing efficiency.
- the 2D/3D algorithm processing thread at least 5 pointers are defined in the Buffer method.
- the 2D/3D algorithm processing thread that can run at the same time can read the data in the Buffer at the same time through two sets of data read pointers (one set is the first pointer and the second pointer, and the other group is the third pointer and the fourth pointer). .
- the multi-pointer pointing method is used in the Buffer data, so that the data of the Buffer can be obtained concurrently in the multi-threaded access, and the pointer copy transmission is used in the process of data parsing, packaging and transmission, reducing the The delay caused by the actual copy of the data. It will decouple the acquisition of Camera data and the processing of 2D/3D algorithms, and use multi-thread acceleration and zero-copy technology to reduce data and algorithm processing delays.
- FIG. 1 is a schematic flowchart of a method for displaying driving images according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a scheduling policy according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of three threads provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of the execution steps of a specific embodiment of thread 1 in FIG. 3;
- FIG. 5 is a schematic diagram of the pointing positions of five pointers defined in an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of a driving image display device according to an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of a driving image display platform according to an embodiment of the present invention.
- the output frame rate of the commonly used embedded video capture devices on the market is 30fps, and each fps takes 33ms. If there is a delay in 2D/3D display fps, the relationship between the delay frame rate and time can be expressed by formula (1). :
- n is the delay frame rate
- T is the total delay time
- the video capture device outputs images at a speed of 30fps, but the output frame rate of 2D/3D display is 25fps, this causes a delay of 5fps.
- the distance offset of the delay using the above method is: 0.46m. It can be seen that the faster the speed, the greater the offset.
- the reason for this problem is that embedded devices are affected by performance and power consumption, and cannot achieve full power and long-term operation on the vehicle platform. Therefore, running 2D/3D algorithms without optimization on the embedded platform will cause the frame rate to reach less than 30fps. If 2D/3D is required to meet the real-time frame rate requirements, the 2D/3D algorithm needs to be processed within the interval of 33ms between each frame.
- an embodiment of the present invention provides a driving image display method, including: acquiring 2D display parameters and 3D display parameters when displaying 2D environment information and 3D environment information synchronously, wherein the 2D display parameters are display parameters. Parameters when 2D environment information is displayed, and the 3D display parameters are parameters when displaying 3D environment information; obtain operation information of the CPU, where the CPU includes multiple cores; according to the 2D display parameters, the 3D display parameters and/or The running information of the CPU adjusts an execution core, and the execution core is a CPU core running a target thread, and the target thread is a thread for processing 2D environment information and/or 3D environment information.
- This solution can solve the problems of reduced display frame rate and display delay when the panoramic driving image system displays 2D and 3D images at the same time, so as to improve driving safety.
- FIG. 1 is a driving image display method according to an embodiment of the present invention. The method includes the following steps:
- Step S101 when 2D environment information and 3D environment information are displayed synchronously, acquire 2D display parameters and 3D display parameters, wherein the 2D display parameters are parameters when displaying 2D environment information, and the 3D display parameters are displaying 3D environment information time parameters;
- the 2D environment information is an image of the surrounding environment information of the vehicle displayed on a display device (such as a screen, etc.).
- the 3D environment information is an image of the surrounding environment information of the vehicle displayed on the display device.
- the 2D/3D display parameter is the attribute parameter used to reflect the execution of the algorithm when the 2D/3D algorithm is executed, for example, the operation of the thread executing the 2D/3D algorithm, etc.; or the attribute parameter of the 2D/3D environment information to be displayed. , such as the display frame rate of 2D/3D environment information, etc.
- the display frame rate is the number of frames per second (Frames Per Second, referred to as fps), which is the definition in the image field, which refers to the number of frames per second transmitted by the picture, and generally refers to the number of pictures of animation or video.
- fps is a measure of the amount of information used to save and display motion video. The more frames per second, the smoother the video motion displayed.
- the 2D display parameters include a display frame rate for displaying 2D environment information
- the 3D display parameters include a display frame rate for displaying 3D environment information.
- Step S102 obtaining operation information of the CPU, where the CPU includes multiple cores;
- the central processing unit (Central Processing Unit, referred to as CPU), as the computing and control core of the computer system, is the final execution unit for information processing and program running.
- the CPU may include a multi-core structure of a symmetric multiprocessor (Symmetric Multiprocessing, SMP for short) or a heterogeneous multiprocessor (Heterogeneous Multiprocessing, HMP for short).
- SMP Symmetric Multiprocessing
- HMP Heterogeneous Multiprocessing
- HMP can realize the dynamic configuration of different types of CPU, Graphics Processing Unit (GPU) and other processing engines in the system to ensure the most appropriate task allocation, optimal performance and lowest power consumption in actual work.
- GPU Graphics Processing Unit
- SoC System-on-a-Chip
- the running information of the CPU is related information used to represent the state of the CPU during running, such as the occupancy (or occupancy rate) of the CPU, the frequency of the CPU, the temperature of the CPU, and the like.
- the operating information of the CPU includes the temperature of the CPU and/or the frequency of the CPU.
- Step S103 according to the 2D display parameters, the 3D display parameters and/or the running information of the CPU, adjust the frequency of the CPU and/or replace the execution core, where the execution core is the CPU core running the target thread, so
- the target thread is a thread for processing 2D environment information and/or 3D environment information.
- the execution of the 2D algorithm and the 3D algorithm is monitored according to the 2D display parameters and the 3D display parameters, and the operation of the hardware device implementing the method is monitored through the operation information of the CPU.
- the execution core to the CPU cannot support the simultaneous real-time display of 2D and 3D environment information, the frequency of the CPU can be adjusted and/or the execution core can be replaced.
- the CPU core includes at least one large core and several small cores, and the computing power of the large core is stronger than that of the small core.
- the existing multi-core CPU may include 2 large cores and 6 small cores, or 4 large cores. nuclei and 4 small nuclei, etc. Adjusting the execution cores may also include shifting target threads from running on large cores to running on small cores, or from running on small cores to running on large cores.
- Step S103 sets a CPU scheduling strategy, with 8 CPU cores (2 large cores (core 1 and core 2 of the large core in FIG. 2 ) and 6 small cores (core 1 of the small core in FIG. 2 ) , ..., core 6)) as an example, the schematic diagram of the scheduling strategy can be seen in Figure 2.
- the CPU frequency modulation module CPU frequency modulation shown in Figure 2
- the scheduling strategy is essentially allocating computing resources of the CPU on demand.
- the CPU frequency modulation operation is integrated into the scheduling strategy. Since the running information of the CPU and the 2D/3D display parameters change, the frequency of the CPU managed by the strategy needs to be updated in real time.
- the CPU frequency modulation module can also be used to replace the target thread to run on another CPU core. Since the scheduling policy manages multiple CPU cores, it is possible to schedule computing resources to run on different cores by identifying the performance and power consumption differences between CPU cores under different architectures.
- the CPU frequency modulation module can determine dynamic voltage and frequency scaling (DVFS), that is, to dynamically adjust the voltage and frequency to balance performance and power consumption.
- DVFS dynamic voltage and frequency scaling
- the operating frequency and voltage of the chip are dynamically adjusted according to the different demands of the applications running on the chip on the computing power of the CPU. For the same chip, the higher the frequency, the higher the required voltage.
- the size of the area where the 2D environment information is displayed is smaller than the size of the area where the 3D environment information is displayed.
- the 2D environment information and the 3D environment information may be displayed on the same screen, or may be displayed on different screens.
- the size of the area displaying 2D environment information accounts for one third of the total size of the screen
- the size of the area displaying 3D environment information accounts for two thirds of the total size of the screen.
- the embodiment of FIG. 1 provides a solution for displaying 2D and 3D images at the same time.
- the execution of the 2D algorithm and the 3D algorithm and the CPU can be monitored in real time.
- the execution core is adjusted to ensure hardware support, thereby ensuring the frame rate and real-time performance of 2D/3D display, and solving the simultaneous real-time display of the existing panoramic driving image system.
- the display frame rate decreases and the display lags.
- the CPU core of the hardware device for executing the method includes at least one large core and several small cores
- the operation of adjusting the execution core in step S103 may be: if the set CPU frequency value needs to be adjusted to the maximum frequency value, and the temperature of the CPU increases within a first preset time, and the execution core is changed to a large core.
- the frequency value of the CPU that needs to be set is a frequency value that can meet the 2D/3D display requirements.
- the maximum frequency is the set CPU threshold. When the CPU frequency is adjusted to a threshold, it will switch between large and small cores based on the temperature of the CPU, and use the larger core with stronger computing power as the execution core to ensure synchronous display.
- the method further includes: if the temperature of the CPU drops within a second preset time, changing the execution core to a small core.
- the first preset time may be the same as or different from the second preset time, and the two periods of time are the time for monitoring the operation of the CPU, which can be set as required.
- the following formula (3) and formula (4) may be referred to for the CPU frequency linear adjustment formula and the large and small core switching judgment in the scheduling policy.
- freq new is the CPU frequency to be set
- freq max is the maximum frequency
- K is the excess factor
- load is the current load of the CPU
- load max is the maximum load of the CPU
- P is the compensation factor
- CPU temp is the CPU temperature
- fps 2D/3D is the display frame rate of 2D/3D.
- the method further includes: controlling a CPU core not executing a task to enter a light sleep mode.
- a CPU idle (Idle) (as shown in FIG. 2 ) module is used to control the CPU core executing the task to enter the sleep mode.
- the sleep mode of the CPU core can include deep sleep mode and light (degree) sleep mode.
- the CPU core power consumption of the deep sleep mode is the lowest, the delay time of wake-up is also significantly longer. Therefore, in order to reduce the wake-up delay, in the scheduling strategy Only allows the CPU to be in light sleep mode, and prohibits entering deep sleep mode.
- the method before adjusting the execution core according to the 2D display parameters, the 3D display parameters and/or the running information of the CPU, the method further includes: acquiring a 2D image from an application layer (the Application layer in FIG. 2 ).
- Display parameters and 3D display parameters; the 2D/3D display parameters may be a display frame rate for displaying 2D/3D environment information (abbreviated as display frame rate in FIG. 2 ).
- the temperature of the CPU and the frequency of the CPU are obtained from the CPU kernel (Kernel).
- the target thread in FIG. 1 includes at least three threads in FIG. 3 : a captured image acquisition thread (as shown in thread 1 in FIG. 3 ), a 2D algorithm processing thread (as shown in thread 2 in FIG. 3 ), and a 3D algorithm Processing threads (thread 3 in Figure 3).
- the captured image acquisition thread is used to acquire data captured by the cameras from one or more cameras (Cameras) capturing the surrounding environment of the vehicle, and perform data analysis and data packaging (shown in FIG. 3 ).
- the plurality of cameras include cameras that capture four directions of front, rear, left, and right of the vehicle.
- the data analysis is to decompose the data of multiple cameras according to the requirements. If the cameras are installed in the four directions of the front, rear, left and right of the vehicle, the obtained set of data needs to be parsed into four independent data of front, rear, left and right. Group. Further, the data collected by the Camera is in YUV format, and the four independent data of front, rear, left and right can be parsed into data groups of Y component and UV component again. Data encapsulation is to express the separated data by means of buffer (Buffer).
- Buffer buffer
- the 2D algorithm processing thread and the 3D algorithm processing thread read the data stored in the Buffer at the same time.
- the 2D algorithm processing thread is used to process the acquired data to obtain 2D environment information that can be displayed, and transmit the obtained 2D environment information to data. for display device display.
- the 3D algorithm processing thread is used to process the acquired data to obtain displayable 3D environment information, and to transmit the obtained 2D environment information for display by the display device.
- the captured image acquisition thread, the 2D algorithm processing thread, and the 3D algorithm processing thread are divided into three independent threads, so as to avoid mutual interference between the threads and improve processing efficiency.
- the execution steps of thread 1 in FIG. 3 include:
- Step S401 acquiring captured images from several cameras of the vehicle through the captured image acquisition, and storing the captured captured images in a buffer area, where the captured images include 2D images and 3D images;
- Step S402 intercepting at least one frame of 2D image from the buffer area each time and sending it to the 2D algorithm processing thread, and the 2D algorithm processing thread processes the 2D image to obtain displayable 2D environment information;
- Step S403 at least one frame of 3D image is intercepted from the buffer area each time and sent to the 3D algorithm processing thread, and the 3D algorithm processing thread processes the 3D image to obtain displayable 3D environment information.
- step S402 and step S403 is not limited, and may be performed simultaneously.
- the method further includes: defining at least 5 pointers, the pointers include a first pointer, a second pointer, a third pointer, a fourth pointer and a fifth pointer, and the pointing positions of the 5 pointers are as follows: As shown in FIG. 5; in step S402, each time at least one frame of 2D image is intercepted from the buffer area, the first pointer and the second pointer respectively point to the start position (start position 1 in FIG. 5) and stop of this interception. position (that is, the stop position 1 in FIG. 5 ); in step S403, each time at least one frame of 3D image is captured from the buffer area, the third pointer and the fourth pointer respectively point to the start position of the current capture (in FIG. 5 ).
- start position 2 start position 2 and stop position (ie, stop position 2 in Figure 5);
- the fifth pointer points to the maximum capacity position of the cache area (marked in Figure 5), the first pointer, the second pointer The positions pointed to by , the third pointer and the fourth pointer cannot exceed the position pointed to by the fifth pointer.
- the 2D/3D algorithm processing threads that can run at the same time can read the Buffer simultaneously through two sets of data read pointers (one set is the first pointer and the second pointer, and the other group is the third pointer and the fourth pointer). data in .
- Zero-Copy technology is used in at least one of the following operations: acquiring a captured image, capturing a 2D image, and capturing a 3D image.
- step S402 and step S403 each time at least one frame of 2D/3D image is intercepted from the buffer area and sent to the 2D/3D algorithm processing thread, the pointer of the intercepted 2D/3D image (the first The pointer and the second pointer, or the third pointer and the fourth pointer) are passed to the 2D/3D processing algorithm, and passing the pointed data value through the pointer can reduce the delay caused by the actual copying of a large amount of data, and realize the zero-copy technology.
- the pointer of the intercepted 2D/3D image the first The pointer and the second pointer, or the third pointer and the fourth pointer
- the parsed data group is expressed by the Buffer method described in the zero-copy technique, and then the encapsulated data is passed to the threads processed by the 2D and 3D algorithms respectively. 2 and thread 3.
- Data transmission between threads can use zero-copy technology, and multi-thread acceleration is used to decouple the operation of captured image acquisition and 2D/3D processing algorithms.
- the existing Camera data that is, the data corresponding to the captured image
- the Buffer method There is only one set of data read pointers. If there are multiple threads reading the data in the Buffer at the same time, concurrent processing cannot be performed.
- a real-time display method for panoramic driving images based on embedded devices it should be noted that if the zero-copy technology implemented by multiple data reading pointers is adopted based on the content of the present invention, the essential content of the present invention will not be affected, and both It is the protection scope of the present invention.
- the zero-copy technology is used, and the multi-pointer pointing method is used in the Buffer data, so that the data of the Camera Buffer can be obtained concurrently in the multi-threaded access, and the pointer copy transmission is used in the process of data analysis, packaging and transmission, reducing the actual data.
- Delay caused by copying It will decouple the acquisition of Camera data and the processing of 2D/3D algorithms, and use multi-thread acceleration and zero-copy technology to reduce data and algorithm processing delays.
- the method further includes: receiving control information sent by the vehicle-mounted central control and/or the gear controller; and synchronously displaying the 2D environment information and the 3D environment information according to the control signal.
- the control information is sent through the on-board central control and/or the gear controller.
- UI interface for information. For example, turn on 2D and 3D simultaneous display in reverse gear, and only turn on 2D display if the vehicle is moving normally.
- an embodiment of the present invention further provides a driving image display device 60, including:
- the parameter acquisition module 601 is used to acquire 2D display parameters and 3D display parameters when displaying 2D environmental information and 3D environmental information synchronously, wherein the 2D display parameters are parameters when displaying 2D environmental information, and the 3D display parameters are Parameters when displaying 3D environment information;
- a CPU operation information acquisition module 602 configured to acquire operation information of a CPU, where the CPU includes multiple cores;
- An execution core adjustment module 603 configured to adjust the frequency of the CPU and/or change the execution core according to the 2D display parameters, the 3D display parameters and/or the running information of the CPU, where the execution core is the running target thread
- the target thread is a thread for processing 2D environment information and/or 3D environment information.
- the above-mentioned driving image display device 60 may correspond to a chip with a display function in an embedded device, or a chip with a data processing function, such as a system-on-a-chip (System-On-a-Chip, SOC for short) ), baseband chip, etc.; or corresponding to a chip module including a display function chip in an embedded device; or corresponding to a chip module having a data processing function chip, or corresponding to an embedded device.
- a chip with a display function in an embedded device or a chip with a data processing function, such as a system-on-a-chip (System-On-a-Chip, SOC for short) ), baseband chip, etc.
- a chip module including a display function chip in an embedded device or corresponding to a chip module having a data processing function chip, or corresponding to an embedded device.
- each module/unit included in each device and product described in the above embodiments it may be a software module/unit, a hardware module/unit, or a part of a software module/unit, a part of which is a software module/unit. is a hardware module/unit.
- each module/unit included therein may be implemented by hardware such as circuits, or at least some of the modules/units may be implemented by a software program.
- Running on the processor integrated inside the chip the remaining (if any) part of the modules/units can be implemented by hardware such as circuits; for each device and product applied to or integrated in the chip module, the modules/units contained therein can be They are all implemented by hardware such as circuits, and different modules/units can be located in the same component of the chip module (such as chips, circuit modules, etc.) or in different components, or at least some of the modules/units can be implemented by software programs.
- the software program runs on the processor integrated inside the chip module, and the remaining (if any) part of the modules/units can be implemented by hardware such as circuits; for each device and product applied to or integrated in the terminal, each module contained in it
- the units/units may all be implemented in hardware such as circuits, and different modules/units may be located in the same component (eg, chip, circuit module, etc.) or in different components in the terminal, or at least some of the modules/units may be implemented by software programs Realization, the software program runs on the processor integrated inside the terminal, and the remaining (if any) part of the modules/units can be implemented in hardware such as circuits.
- An embodiment of the present invention further provides a storage medium on which a computer program is stored, and when the computer program is run by a processor, the steps of the methods described in FIG. 1 to FIG. 5 are executed.
- the storage medium may be a computer-readable storage medium, for example, may include non-volatile memory (non-volatile) or non-transitory (non-transitory) memory, and may also include optical disks, mechanical hard disks, solid-state disks, and the like.
- the embodiment of the present invention also provides an embedded device.
- the CPU of the embedded device is multi-core, and the embedded device includes the driving image display device 60 as shown in FIG. A computer program running on the processor, when the processor runs the computer program, the steps of the methods described in FIGS. 1 to 5 are executed.
- an embodiment of the present invention further provides a driving image display platform 70, the platform includes a plurality of cameras 701 for collecting environmental information of the vehicle and acquiring captured images, an embedded device 703, and a plurality of cameras 703 for displaying 2D environmental information and /or a vehicle-mounted display terminal 704 for 3D environment information.
- the 2D environment information is displayed in the 2D display area of the vehicle-mounted display terminal 704, and the 3D environment information is displayed in the 3D display area of the vehicle-mounted display terminal 704.
- the size of the 2D display area is smaller than the size of the 3D display area.
- 2D and 3D displays are based on different surfaces created by the operating system.
- the display of 2D and 3D is based on different Surfaces, so there will be differences in the display frame rates of 2D and 3D in different Surfaces.
- the interval between the output frame rate of an image acquisition device such as a camera is (The output frame rate of the commonly used embedded Camera acquisition device is 30fps, and the interval time is about 33ms) to process 2D and 3D algorithms, so that the 2D/3D display frame rate can be synchronized with the output frame rate of the Camera acquisition device.
- the driving image display platform 70 is powered by the vehicle power supply 702 .
- the embedded device can also be powered by the vehicle power supply 702 alone, and the stable power supply of the vehicle power supply 702 also determines the stability of the CPU operation.
- the above-mentioned methods for displaying panoramic driving images in real time as shown in FIGS. 1 to 5 can be executed in the CPU of an embedded device or a driving image display platform of an automobile, and the CPU includes a multi-core structure of SMP or MPP.
- the hardware of the embedded device or the driving image display platform 70 may include a CPU based on X86, ARM, MIPIS and Powpc architecture, and the software system for executing the above method may include an operating system based on Android, iOS, Windows and Linux. It should be noted that the real-time display method of panoramic driving images based on embedded devices implemented by other hardware systems and software systems based on the content of the present invention does not affect the essential content of the present invention, and is regarded as the protection scope of the present invention.
- the processor may be a central processing unit (central processing unit, CPU for short), and the processor may also be other general-purpose processors, digital signal processors (digital signal processor, DSP for short) ), application specific integrated circuit (ASIC), off-the-shelf 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.
- the memory in the embodiments of the present application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
- the non-volatile memory may be read-only memory (ROM for short), programmable read-only memory (PROM for short), erasable programmable read-only memory (EPROM for short) , Electrically Erasable Programmable Read-Only Memory (electrically EPROM, EEPROM for short) or flash memory.
- Volatile memory may be random access memory (RAM), which acts as an external cache.
- RAM random access memory
- SRAM static random access memory
- DRAM dynamic random access memory
- DRAM synchronous Dynamic random access memory
- SDRAM synchronous Dynamic random access memory
- DDR SDRAM double data rate synchronous dynamic random access memory
- ESDRAM enhanced synchronous dynamic random access memory
- SLDRAM Synchronous connection dynamic random access memory
- DR RAM direct memory bus random access memory
- the present invention realizes a driving image display method and device, a platform, a storage medium, and an embedded device, which are realized when the output of an image acquisition device such as a camera is 30fps.
- the 2D/3D algorithm is processed within 33ms of the interval between each frame to ensure the frame rate and real-time performance of 2D/3D display.
- the embodiment of the present invention specifically includes the following effects:
- the 2D/3D display frame rate can be maintained in sync with the output frame rate of the Camera capture device.
- the delay frame rate will increase. Therefore, in this method, the acquisition of Camera data and the processing of 2D/3D algorithms are decoupled, and multi-thread acceleration and zero-copy technology are used to reduce data and algorithm processing delays.
- connection in the embodiments of the present application refers to various connection modes such as direct connection or indirect connection, so as to realize communication between devices, which is not limited in the embodiments of the present application.
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Abstract
Description
Claims (18)
- 一种行车影像显示方法,其特征在于,所述方法包括:在同步显示2D环境信息和3D环境信息时,获取2D显示参数和3D显示参数,其中,所述2D显示参数为显示2D环境信息时的参数,所述3D显示参数为显示3D环境信息时的参数;获取CPU的运行信息,所述CPU包含多个核;根据所述2D显示参数、所述3D显示参数和/或所述CPU的运行信息调整所述CPU的频率和/或变更执行核,所述执行核为运行目标线程的CPU核,所述目标线程为用于处理2D环境信息和/或3D环境信息的线程。
- 根据权利要求1所述的方法,其特征在于,所述CPU的运行信息包括所述CPU的温度和/或所述CPU的频率。
- 根据权利要求2所述的方法,其特征在于,所述2D显示参数包括显示2D环境信息的显示帧率,所述3D显示参数包括显示3D环境信息的显示帧率。
- 根据权利要求3所述的方法,其特征在于,所述CPU核包括至少一个大核和若干个小核,调整执行核包括:如果需要设定的CPU频率值调整到频率最大值、且所述CPU的温度在第一预设时间内增加,将所述执行核变更为大核。
- 根据权利要求4所述的方法,其特征在于,所述将所述执行核变更为大核之后,还包括:如果所述CPU的温度在第二预设时间内下降,将所述执行核变更为小核。
- 根据权利要求1至3任一所述的方法,其特征在于,所述方法还包括:控制无执行任务的CPU核进入浅睡眠模式。
- 根据权利要求1至3任一所述的方法,其特征在于,所述根据所述2D显示参数、所述3D显示参数和/或所述CPU的运行信息调整执行核之前,还包括:从应用层获取2D显示参数和3D显示参数;从CPU内核中获取所述CPU的温度和所述CPU的频率。
- 根据权利要求1所述的方法,其特征在于,所述目标线程至少包括:拍摄图像获取线程、2D算法处理线程和3D算法处理线程。
- 根据权利要求9所述的方法,其特征在于,所述方法还包括:通过所述拍摄图像获取从车辆的若干个相机获取拍摄图像,并将获取的拍摄图像存储到缓存区,所述拍摄图像包括2D图像和3D图像;每次从所述缓存区截取至少一帧2D图像发送至所述2D算法处理线程,并由所述2D算法处理线程对所述2D图像进行处理,以得 到可显示的2D环境信息;每次从所述缓存区截取至少一帧3D图像发送至所述3D算法处理线程,并由所述3D算法处理线程对所述3D图像进行处理,以得到可显示的3D环境信息。
- 根据权利要求10所述的方法,其特征在于,所述方法还包括:定义至少5个指针,所述指针包括第一指针、第二指针、第三指针、第四指针和第五指针;在每次从所述缓存区截取至少一帧2D图像时,第一指针和第二指针分别指向本次截取的开始位置和停止位置;在每次从所述缓存区截取至少一帧3D图像时,第三指针和第四指针分别指向本次截取的开始位置和停止位置;所述第五指针指向所述缓存区的最大容量位置,所述第一指针、第二指针、第三指针和第四指针指向的位置均不能超出第五指针指向的位置。
- 根据权利要求9至11任一所述的方法,其特征在于,至少在下述其中一个操作中使用Zero-Copy技术:获取拍摄图像、截取2D图像、截取3D图像。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:接收车载中控和/或档位控制器发出的控制信息;根据所述控制信号同步显示2D环境信息和3D环境信息。
- 根据权利要求1所述的方法,其特征在于,同步显示2D环境信息和3D环境信息时,显示2D环境信息的区域尺寸小于显示3D环境信息的区域尺寸。
- 一种行车影像显示装置,其特征在于,所述装置包括:参数获取模块,用于在同步显示2D环境信息和3D环境信息时, 获取2D显示参数和3D显示参数,其中,所述2D显示参数为显示2D环境信息时的参数,所述3D显示参数为显示3D环境信息时的参数;CPU运行信息获取模块,用于获取CPU的运行信息,所述CPU包含多个核;执行核调整模块,用于根据所述2D显示参数、所述3D显示参数和/或所述CPU的运行信息调整所述CPU的频率和/或变更执行核,所述执行核为运行目标线程的CPU核,所述目标线程为用于处理2D环境信息和/或3D环境信息的线程。
- 一种存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器运行时执行权利要求1至14任一项所述方法的步骤。
- 一种嵌入式设备,其特征在于,所述嵌入式设备的CPU为多核,所述嵌入式设备包括如权利要求15所述的行车影像显示装置,或者,所述嵌入式设备包括存储器和处理器,所述存储器上存储有可在所述处理器上运行的计算机程序,所述处理器运行所述计算机程序时执行权利要求1至14任一项所述方法的步骤。
- 一种行车影像显示平台,其特征在于,所述平台包括若干个采集车辆的环境信息并获取拍摄图像的相机、权利要求17所述的嵌入式设备和用于显示2D环境信息和/或3D环境信息的车载显示终端。
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