CN117528000A - Vehicle image acquisition system, method and device, automobile and storage medium - Google Patents

Abstract

The invention relates to the technical field of vehicles and discloses a vehicle image acquisition system, a method, a device, an automobile and a storage medium. The system comprises: the image original data acquisition channel is used for acquiring image original data when the vehicle runs and transmitting the image original data to the mobile industry processor interface adapter through the matched input interface; the mobile industry processor interface adapter is used for sending the image original data to the independent image signal processor through the output interface; the independent image signal processor is used for acquiring image data in a preset format corresponding to the original image data and sending the image data in the preset format to the controller; and the controller is used for carrying out automatic driving control according to the image data in the preset format. According to the technical scheme, the mobile industry processor interface adapter and the independent image signal processor are arranged to collect the vehicle image, so that the vehicle image collection effect can be guaranteed to the greatest extent, and meanwhile, the vehicle image collection cost is reduced.

Description

Vehicle image acquisition system, method and device, automobile and storage medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a vehicle image acquisition system, method, apparatus, automobile, and storage medium.

Background

In the unmanned field, the high-quality image is generated by efficiently outputting the image raw data output by a plurality of image sensors on each vehicle after image signal processing, and plays a very important role in improving the unmanned performance.

In the prior art, each image sensor is fixedly packaged and bound with an image signal processor, so that multichannel vehicle image acquisition is realized; however, each image sensor needs to be provided with a corresponding image signal processor, and tens of image sensors are arranged on the unmanned vehicle, so that a large number of image signal processors are needed, and the cost of the image signal processor with high-quality image processing effect is very high, so that the cost is high; in addition, if an integrated image signal processor is used for cost reduction, since the image processing effect is general, the automatic driving performance cannot be improved to the maximum extent.

Disclosure of Invention

The invention provides a vehicle image acquisition system, a method, a device, an automobile and a storage medium, which can reduce the vehicle image acquisition cost while ensuring the vehicle image acquisition effect to the greatest extent.

According to an aspect of the present invention, there is provided a vehicle image acquisition system comprising a controller, an independent image signal processor, a mobile industry processor interface adapter and at least one image raw data acquisition channel, each of the image raw data acquisition channels being connected to the controller by the mobile industry processor interface adapter and the independent image signal processor, the mobile industry processor interface adapter comprising a plurality of input interfaces and an output interface;

each image raw data acquisition channel is used for acquiring image raw data when a vehicle runs, and transmitting the image raw data to the mobile industry processor interface adapter through a matched input interface;

the mobile industry processor interface adapter is used for sending the original image data to the independent image signal processor through the output interface;

the independent image signal processor is used for carrying out data processing on the original image data to obtain preset format image data corresponding to the original image data, and sending the preset format image data to the controller;

the controller is used for carrying out automatic driving control according to each preset format image data.

According to another aspect of the present invention, there is provided a vehicle image acquisition method applied to the vehicle image acquisition system according to any one of the embodiments of the present invention, including:

acquiring image raw data through each image raw data acquisition channel when a vehicle runs, and transmitting the image raw data to a mobile industry processor interface adapter through a matched input interface in parallel;

transmitting each image raw data to an independent image signal processor by adopting an output interface through the mobile industry processor interface adapter;

performing data processing on each piece of image original data through the independent image signal processor to obtain preset format image data corresponding to each piece of image original data, and sending each piece of preset format image data to a controller;

and carrying out automatic driving control according to each piece of preset format image data through the controller.

According to another aspect of the present invention, there is provided a vehicle image capturing device applied to the vehicle image capturing system according to any of the embodiments of the present invention, including:

the system comprises an image raw data acquisition module, a mobile industry processor interface adapter and a mobile industry processor interface, wherein the image raw data acquisition module is used for acquiring image raw data through each image raw data acquisition channel when a vehicle runs, and transmitting the image raw data to the mobile industry processor interface adapter through a matched input interface;

the image original data transmitting module is used for transmitting each image original data to an independent image signal processor through the mobile industry processor interface adapter by adopting an output interface;

the image original data processing module is used for carrying out data processing on each image original data through the independent image signal processor so as to obtain preset format image data corresponding to each image original data, and sending each preset format image data to the controller;

and the automatic driving control module is used for carrying out automatic driving control according to the image data of each preset format through the controller.

According to another aspect of the present invention, there is provided an automobile comprising the vehicle image acquisition system according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the vehicle image acquisition method according to any one of the embodiments of the present invention.

According to the technical scheme, through each image original data acquisition channel, the image original data are acquired when a vehicle runs, and the image original data are transmitted to the mobile industry processor interface adapter through the matched input interface; transmitting original data of each image to an independent image signal processor by adopting an output interface through a mobile industry processor interface adapter; performing data processing on each image original data through an independent image signal processor to obtain preset format image data corresponding to each image original data, and sending each preset format image data to a controller; through the controller, automatic driving control is carried out according to the image data of each preset format; through setting up mobile trade processor interface adapter and independent image signal processor to carry out vehicle image acquisition, can reduce vehicle image acquisition cost when guaranteeing vehicle image acquisition effect to the maximum extent.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1A is a schematic structural diagram of a vehicle image capturing system according to a first embodiment of the present invention;

fig. 1B is a schematic structural diagram of an image raw data acquisition channel according to a first embodiment of the present invention;

FIG. 1C is a schematic diagram of another vehicle image acquisition system according to a first embodiment of the present invention;

fig. 2 is a flowchart of a vehicle image acquisition method according to a second embodiment of the present invention;

fig. 3 is a schematic structural view of a vehicle image capturing device according to a third embodiment of the present invention;

fig. 4A is a schematic structural view of an automobile according to a fourth embodiment of the present invention;

fig. 4B is a schematic structural diagram of a controller according to a fourth embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1A is a block diagram of a vehicle image acquisition system according to an embodiment of the present invention, where the vehicle image acquisition system 10 includes a controller 11, an independent image signal processor 12, a mobile industry processor interface adapter 13, and at least one image raw data acquisition channel 14, where each image raw data acquisition channel 14 is connected to the controller 11 through the mobile industry processor interface adapter 13 and the independent image signal processor 12, and the mobile industry processor interface adapter 13 includes a plurality of input interfaces and an output interface;

each image raw data acquisition channel 14 is used for acquiring image raw data when the vehicle runs, and transmitting the image raw data to the mobile industry processor interface adapter 13 through the matched input interface; the original image data can be original data which is obtained by converting a natural light source signal captured by an image sensor into a digital signal, is lossless but cannot be identified by an algorithm and human eyes, and can comprise data contents such as image data resolution, frame rate, pixels and the like; for example, RAW format data may be used.

The image raw data acquisition channel 14 may include an image sensor and a data transmission module, among others. In the embodiment, the image sensors deployed at different positions on the vehicle can collect the original data of the front end, the rear end and the left and right sides of the vehicle; and secondly, through the data transmission module, a preset data transmission protocol, such as a mobile industry processor interface protocol and the like, can be adopted to carry out high-speed transmission on the acquired image original data.

Specifically, the plurality of image raw data acquisition channels 14 and the mobile industry processor interface adapter 13 may communicate data through a camera serial interface (CMOS Sensor Interface, CSI), the mobile industry processor interface (Mobile Industry Processor Interface, MIPI) adapter 13 is configured with a plurality of CSI interfaces as input interfaces, and one CSI interface may be configured as output interface. Each image RAW data acquisition channel 14 can access the MIPI adapter 13 through a corresponding CSI interface, and can send acquired RAW format data to the MIPI adapter 13 in a concurrent sending manner.

The CSI interface is a specific application of the MIPI standard on the camera, and defines a high-speed serial interface between the central processing unit and the camera module.

A mobile industry processor interface adapter 13 for transmitting each image raw data to the independent image signal processor 12 through the output interface; the mobile industry processor interface adapter 13 may be an interface adapter based on the MIPI standard, and may convert multiple parallel input MIPI protocol signals into one parallel output signal.

In this embodiment, by disposing the MIPI adapter 13 between the multiple-path image raw data acquisition channel 14 and the independent image signal processor (Image Signal Processing, ISP) 12, access of the independent image signal processor 12 to the multiple-path image raw data acquisition channel 14 can be achieved, so that reception and processing of multiple-path image raw data can be achieved.

An independent image signal processor 12, configured to perform data processing on each image raw data, so as to obtain preset format image data corresponding to each image raw data, and send each preset format image data to the controller 11; optionally, the preset format image data may include YUV format image data and/or RGB format image data; wherein YUV format employs brightness and chromaticity to specify the color of the pixel, Y represents brightness (Luminance, luma), and U and V represent chromaticity (Chrominance, chroma), which includes hue and saturation; the RGB format uses different values of the three primary colors Red (Red), green (Green) and Blue (Blue) to describe the color of the pixel.

In this embodiment, through the independent ISP12, the receiving and data processing of the multipath image raw data can be simultaneously realized, the image raw data can be converted into a YUV format image or an RGB format image that can be recognized by an algorithm and human eyes, and the generated YUV format image or RGB format image can be output to the controller 11 for visual perception. In the present embodiment, the model of the independent ISP12 is not particularly limited.

In the present embodiment, by using the independent image signal processor 12, the limitation that each image sensor must be fixedly bound to one image signal processor is avoided, and when the image sensor is damaged, only the image sensor can be replaced without integral replacement; secondly, the process of packaging the image sensor and the image signal processor is saved, the image sensor and the image signal processor with different models can be flexibly matched, and the use quantity of the image signal processor is reduced, so that the cost is reduced; in addition, compared with the integrated image signal processor in the prior art, the image processing effect is improved and the unmanned performance is enhanced by using the independent image signal processor 12 with more powerful performance.

And a controller 11 for performing automatic driving control based on each of the preset format image data. The controller 11 may be an external control device, for example, may be a vehicle end domain controller, and is configured to use image data in a preset format as support data for automatic driving control, so as to implement automatic driving control. Data transmission between controller 11 and independent ISP12 may also be via a CSI interface.

In the present embodiment, the manner of implementing the automatic driving control based on the preset format image data is not particularly limited.

According to the technical scheme, through each image original data acquisition channel, the image original data are acquired when a vehicle runs, and the image original data are transmitted to the mobile industry processor interface adapter through the matched input interface; transmitting original data of each image to an independent image signal processor by adopting an output interface through a mobile industry processor interface adapter; performing data processing on each image original data through an independent image signal processor to obtain preset format image data corresponding to each image original data, and sending each preset format image data to a controller; through the controller, automatic driving control is carried out according to the image data of each preset format; through setting up mobile trade processor interface adapter and independent image signal processor to carry out vehicle image acquisition, can reduce vehicle image acquisition cost when guaranteeing vehicle image acquisition effect to the maximum extent.

Alternatively, as shown in fig. 1B, the image raw data acquisition channel 14 may include an image sensor 141, a serializer 142, and a deserializer 143; in the present embodiment, each image raw data acquisition channel 14 may be composed of an image sensor 141, a serializer 142, and a deserializer 143 connected in sequence.

The image sensor 141 is connected to the serializer 142, and is configured to acquire raw image data, and send the raw image data to the serializer 142; the image sensor 141 may be a Complementary Metal Oxide Semiconductor (CMOS) sensor; in a specific example, when the vehicle is in a driving state, RAW format data of a driving environment of the vehicle may be acquired through a CMOS sensor, and the acquired RAW format data may be transmitted to the corresponding serializer 142 through a CSI interface. The number and deployment positions of the image sensors 141 are not particularly limited in this embodiment.

The serializer 142 is connected to the deserializer 143, and is configured to serialize the original image data, and send the serialized original image data to the deserializer 143;

the deserializer 143 is connected to the mobile industry processor interface adapter 13, and is configured to deserialize the serialized raw image data to obtain the raw image data, and send the raw image data to the mobile industry processor interface adapter 13.

Wherein the serializer 142 is used for converting the multipath parallel signals into serial signals; correspondingly, the deserializer 143 is used to decode the serial signal into a parallel signal. By transmitting data using the serializer 142 and the deserializer 143, the data transmission rate can be greatly improved.

Specifically, after the original image data is acquired by the image sensor 141, the original image data may be sent to the serializer 142 to perform serialization encoding, and then the original image data after the serialization encoding may be sent to the deserializer 143 to perform deserialization, that is, decoding processing, through a physical medium; finally, the raw image data may be transferred to the MIPI adapter 13.

Optionally, the image sensor 141 and the serializer 142 may perform data transmission through a camera serial interface, and the serializer 142 and the deserializer 143 may perform data transmission based on a gigabit multimedia serial protocol (Gigabit Multimedia Serial Links, GMSL) through a coaxial cable. Data transmission between the deserializer 143 and the mobile industry processor interface adapter 13 may be via a camera serial interface.

Optionally, stand-alone ISP12 may also communicate with serializer 142 and deserializer 143 based on an I2C (Inter-Integrated Circuit, integrated circuit bus) interface; correspondingly, the independent ISP12 may also be used to configure information to the serializer 142 and deserializer 143 to match the image sensor 141 to the serializer 142, and the deserializer 143 to the MIPI adapter 13. Specifically, independent ISP12 may configure the input mode and the number of data channels of serializer 142 such that the input mode of serializer 142 and the output mode of image sensor 141 are matched, such that the number of data channels of serializer 142 and the number of data channels of image sensor 141 are equal, and such that the input mode of deserializer 143 and the output mode of serializer 142 are matched. Second, the independent ISP12 may also configure information on the MIPI adapter 13 so that the input mode of the independent image signal processor 12 matches the data output mode of the MIPI adapter 13, and ensures that the processing rate of the independent ISP12 is greater than the output rate of the MIPI adapter 13, so as to ensure that data transmission is performed normally.

In a specific implementation of this embodiment, the structure of the vehicle image acquisition system may be as shown in fig. 1C. The vehicle image acquisition system 10 comprises four image raw data acquisition channels 14, including an image sensor 141, a serializer 142, a deserializer 143, an MIPI adapter 13, an independent ISP12 and a controller 11. Specifically, the image sensor 141 acquires RAW image data in RAW format, including resolution, frame rate, pixel value, etc. of the image data, and transmits the RAW image data to the serializer 142 through the CSI interface; then, the original image data is serialized by the serializer 142 and transmitted to the deserializer 143 through the GMSL link in a serial transmission manner; then, the deserializer 143 receives the serial raw image data transmitted from the serializer 142, deserializes the serial raw image data to obtain parallel raw image data, and transmits the parallel raw image data to the MIPI adapter 13 through the CSI interface.

Further, the MIPI adapter 13 combines the multiple original image data transferred from the plurality of deserializers 143 and transfers the combined image data to the independent image signal processor 12 through the CSI interface. The independent image signal processor 12 has the capability of processing multiple paths of original image data at the same time, and can receive the original image data transmitted by the MIPI adapter 13, and perform complex image data processing on the original image data internally, so as to finally convert the original image data into YUV format or RGB format images; finally, the processed image data may be output to the controller 11 through the CSI interface.

Example two

Fig. 2 is a flowchart of a vehicle image capturing method according to a second embodiment of the present invention, where the method is applicable to a situation where vehicle image capturing is performed during a vehicle driving process, and the method may be performed by a vehicle image capturing device, where the vehicle image capturing device may be applied to the vehicle image capturing system according to the first embodiment of the present invention, and may be implemented in a form of hardware and/or software, and typically, the vehicle image capturing device may be configured in an automobile. As shown in fig. 2, the method includes:

s210, acquiring image original data through each image original data acquisition channel when a vehicle runs, and transmitting the image original data to a mobile industry processor interface adapter through a matched input interface.

The mobile industry processor interface adapter 13 may include a plurality of input interfaces and an output interface, where the input interfaces are in one-to-one correspondence with the image raw data acquisition channels 14; thus, mobile industry processor interface adapter 13 may simultaneously access multiple image raw data acquisition channels 14 and may send image raw data for each image raw data acquisition channel 14 in parallel to independent ISP12 for data processing.

Optionally, the acquiring the image raw data through each image raw data acquisition channel when the vehicle runs may include:

acquiring original image data through an image sensor, and sending the original image data to a serializer;

and the serializer is used for serializing the original image data, and the deserializer is used for deserializing the serialized original image data so as to acquire the original image data.

Each image raw data acquisition channel 14 may include an image sensor 141, a serializer 142, and a deserializer 143 connected in sequence. In a specific example, when the image RAW data is acquired through the image RAW data acquisition channel 14, RAW image data in RAW format may be acquired by the image sensor 141 first, and parallel RAW image data is sent to the serializer 142 through the CSI interface to be encoded in series, and then the serial encoded RAW image data is sent to the deserializer 143 through the coaxial cable to be deserialized, so as to obtain parallel RAW image data.

S220, transmitting the original image data to an independent image signal processor through the mobile industry processor interface adapter by adopting an output interface.

S230, performing data processing on the original image data through the independent image signal processor to obtain preset format image data corresponding to the original image data, and sending the preset format image data to a controller.

The independent image signal processor 12 may include a plurality of image processing channels, and each image processing channel may implement data processing of one path of image raw data. In the present embodiment, the manner of performing data processing on the individual image signal processors 12 is not particularly limited.

S240, performing automatic driving control according to the image data of each preset format through the controller.

According to the technical scheme, through each image original data acquisition channel, the image original data are acquired when a vehicle runs, and the image original data are transmitted to the mobile industry processor interface adapter through the matched input interface; transmitting original data of each image to an independent image signal processor by adopting an output interface through a mobile industry processor interface adapter; performing data processing on each image original data through an independent image signal processor to obtain preset format image data corresponding to each image original data, and sending each preset format image data to a controller; through the controller, automatic driving control is carried out according to the image data of each preset format; through setting up mobile trade processor interface adapter and independent image signal processor to carry out vehicle image acquisition, can reduce vehicle image acquisition cost when guaranteeing vehicle image acquisition effect to the maximum extent.

In a specific implementation manner of this embodiment, the flow of the vehicle image acquisition method may specifically include: firstly, the image sensor 141 is powered on and initialized, and after the deserializer 143 and the serializer 142 are powered on, connection pairing is performed, and after the independent image signal processor 12 is powered on, the image processing channel is initialized; then, the image sensor 141 continuously collects raw image data according to the internal configuration parameters after power-on, and continuously transmits the raw image data to the serializer 142; the serializer 142 serializes the original image data and transmits the serialized original image data to the deserializer 143 through the GMSL link; the deserializer 143 deserializes the received original image data, and then transmits the deserialized original image data to the MIPI adapter 13 through the CSI interface; thereafter, the MIPI adapter 13 receives the original image data transmitted from the de-serializer 143 through the CSI interface and transmits the original image data in parallel to the independent ISP12; the independent ISP12, upon receiving the original image data transferred from the MIPI adapter 13, performs image processing on the original image data to obtain image data that can be recognized by the controller 11, and transfers the processed image data to the controller 11.

Example III

Fig. 3 is a schematic structural diagram of a vehicle image capturing device according to a third embodiment of the present invention. As shown in fig. 3, the apparatus may be applied to a vehicle image acquisition system in a first embodiment of the present invention, including: an image raw data acquisition module 310, an image raw data transmission module 320, an image raw data processing module 330, and an automatic driving control module 340; wherein,

the image raw data acquisition module 310 is configured to acquire image raw data through each image raw data acquisition channel when the vehicle runs, and send the image raw data to the mobile industry processor interface adapter through the matched input interface;

an image raw data transmitting module 320, configured to transmit, by using the mobile industry processor interface adapter, each of the image raw data to an independent image signal processor using an output interface;

the image raw data processing module 330 is configured to perform data processing on each image raw data by using the independent image signal processor, so as to obtain preset format image data corresponding to each image raw data, and send each preset format image data to the controller;

and the automatic driving control module 340 is configured to perform automatic driving control according to each of the preset format image data by using the controller.

According to the technical scheme, through each image original data acquisition channel, the image original data are acquired when a vehicle runs, and the image original data are transmitted to the mobile industry processor interface adapter through the matched input interface; transmitting original data of each image to an independent image signal processor by adopting an output interface through a mobile industry processor interface adapter; performing data processing on each image original data through an independent image signal processor to obtain preset format image data corresponding to each image original data, and sending each preset format image data to a controller; through the controller, automatic driving control is carried out according to the image data of each preset format; through setting up mobile trade processor interface adapter and independent image signal processor to carry out vehicle image acquisition, can reduce vehicle image acquisition cost when guaranteeing vehicle image acquisition effect to the maximum extent.

Optionally, the image raw data acquisition module 310 is specifically configured to acquire raw image data through an image sensor, and send the raw image data to the serializer;

and the serializer is used for serializing the original image data, and the deserializer is used for deserializing the serialized original image data so as to acquire the original image data.

The vehicle image acquisition device provided by the embodiment of the invention can execute the vehicle image acquisition method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 4A shows a schematic structural diagram of an automobile 40 that may be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4A, an automobile 40 may include the vehicle image acquisition system 10 according to the first embodiment of the present invention. Wherein the controller 11 may be a vehicle-mounted device, as shown in fig. 4B, may include at least one processor 111, and a memory communicatively connected to the at least one processor 111, such as a read-only memory (ROM) 112, a Random Access Memory (RAM) 113, etc., wherein the memory stores a computer program executable by the at least one processor, and the processor 111 may perform various suitable actions and processes according to the computer program stored in the read-only memory (ROM) 112 or the computer program loaded from the storage unit 118 into the Random Access Memory (RAM) 113. In the RAM 113, various programs and data required for the operation of the controller 11 may also be stored. The processor 111, the ROM 112, and the RAM 113 are connected to each other through a bus 114. An input/output (I/O) interface 115 is also connected to bus 114.

Various components in the controller 11 are connected to the I/O interface 115, including: an input unit 116; an output unit 117 such as various types of displays, speakers, and the like; a storage unit 118 such as a magnetic disk, an optical disk, or the like; and a communication unit 119 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 119 allows the controller 11 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Processor 111 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 111 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, microcontroller, etc. The processor 111 performs the various methods and processes described above, such as a vehicle image acquisition method.

In some embodiments, the vehicle image acquisition method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 118. In some embodiments, part or all of the computer program may be loaded and/or installed onto the controller 11 via the ROM 112 and/or the communication unit 119. When the computer program is loaded into RAM 113 and executed by processor 111, one or more steps of the vehicle image acquisition method described above may be performed. Alternatively, in other embodiments, the processor 111 may be configured to perform the vehicle image acquisition method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a controller having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. The vehicle image acquisition system is characterized by comprising a controller, an independent image signal processor, a mobile industry processor interface adapter and at least one image original data acquisition channel, wherein each image original data acquisition channel is connected with the controller through the mobile industry processor interface adapter and the independent image signal processor, and the mobile industry processor interface adapter comprises a plurality of input interfaces and an output interface;

each image raw data acquisition channel is used for acquiring image raw data when a vehicle runs, and transmitting the image raw data to the mobile industry processor interface adapter through a matched input interface;

the mobile industry processor interface adapter is used for sending the original image data to the independent image signal processor through the output interface;

the independent image signal processor is used for carrying out data processing on the original image data to obtain preset format image data corresponding to the original image data, and sending the preset format image data to the controller;

the controller is used for carrying out automatic driving control according to each preset format image data.

2. The system of claim 1, wherein the image raw data acquisition channel comprises an image sensor, a serializer, and a deserializer;

the image sensor is connected with the serializer and is used for acquiring original image data and sending the original image data to the serializer;

the serializer is connected with the deserializer and is used for serializing the original image data and sending the serialized original image data to the deserializer;

the deserializer is connected with the mobile industry processor interface adapter and is used for deserializing the serialized original image data to obtain the original image data and sending the original image data to the mobile industry processor interface adapter.

3. The system of claim 2, wherein data transmission is performed between the image sensor and the serializer via a camera serial interface, and wherein data transmission is performed between the serializer and the deserializer via a coaxial cable based on a gigabit multimedia serial protocol.

4. The system of claim 2, wherein the deserializer and the mobile industry processor interface adapter are in data transmission via a camera serial interface.

5. The system of claim 1, wherein the pre-formatted image data comprises YUV formatted image data and/or RGB formatted image data.

6. A vehicle image acquisition method, characterized by being applied to the vehicle image acquisition system according to any one of claims 1 to 5, comprising:

acquiring image raw data through each image raw data acquisition channel when a vehicle runs, and transmitting the image raw data to a mobile industry processor interface adapter through a matched input interface in parallel;

transmitting each image raw data to an independent image signal processor by adopting an output interface through the mobile industry processor interface adapter;

performing data processing on each piece of image original data through the independent image signal processor to obtain preset format image data corresponding to each piece of image original data, and sending each piece of preset format image data to a controller;

and carrying out automatic driving control according to each piece of preset format image data through the controller.

7. The method of claim 6, wherein the image raw data is acquired while the vehicle is traveling through each image raw data acquisition channel, comprising:

acquiring original image data through an image sensor, and sending the original image data to a serializer;

and the serializer is used for serializing the original image data, and the deserializer is used for deserializing the serialized original image data so as to acquire the original image data.

8. A vehicle image acquisition apparatus, characterized by being applied to the vehicle image acquisition system according to any one of claims 1 to 5, comprising:

the system comprises an image raw data acquisition module, a mobile industry processor interface adapter and a mobile industry processor interface, wherein the image raw data acquisition module is used for acquiring image raw data through each image raw data acquisition channel when a vehicle runs, and transmitting the image raw data to the mobile industry processor interface adapter through a matched input interface;

the image original data transmitting module is used for transmitting each image original data to an independent image signal processor through the mobile industry processor interface adapter by adopting an output interface;

the image original data processing module is used for carrying out data processing on each image original data through the independent image signal processor so as to obtain preset format image data corresponding to each image original data, and sending each preset format image data to the controller;

and the automatic driving control module is used for carrying out automatic driving control according to the image data of each preset format through the controller.

9. An automobile comprising the vehicle image acquisition system according to any one of claims 1 to 5.

10. A computer readable storage medium storing computer instructions for causing a processor to execute the vehicle image acquisition method according to claim 6 or 7.