CN115098264A - Camera calling method, device, vehicle and medium under virtualization management - Google Patents
Camera calling method, device, vehicle and medium under virtualization management Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5061—Partitioning or combining of resources
- G06F9/5077—Logical partitioning of resources; Management or configuration of virtualized resources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Arrangement of adaptations of instruments
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
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- G06F9/45558—Hypervisor-specific management and integration aspects
- G06F2009/45579—I/O management, e.g. providing access to device drivers or storage
Abstract
The embodiment of the invention provides a camera calling method, a camera calling device, a vehicle and a medium under virtualization management, wherein the method is applied to a whole vehicle control system of the vehicle, a virtualization management framework is erected in the vehicle, a host machine is constructed in the whole vehicle control system of the virtualization management framework, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in the instrument system of the vehicle, and the method comprises the following steps: acquiring a camera calling configuration parameter after power-on starting; if the camera calling configuration parameters are directly called by the central control system, controlling the central control client to load the camera physical drive and controlling the instrument client to load the camera virtual drive; and if the camera calling configuration parameter is a paravirtualized call, controlling the host machine to load the camera physical drive and controlling the central control client and the instrument client to respectively load the camera virtual drive. By the method, two modes of camera direct connection and semi-virtualization can be supported, and a cross-system multi-path multipurpose scene is supported.
Description
Technical Field
The invention relates to the technical field of virtualization, in particular to a method, a device, a vehicle and a medium for calling a camera under virtualization management.
Background
The automobile chip under the intelligent cabin scene has stronger and stronger computing capability and storage capability, and can support more and more operating systems to run. The virtualization technology implemented based on the Hypervisor is widely applied, and the technology mainly carries out deep research on sharing and use efficiency of different hardware devices.
The virtualization device studied by early Hypervisor is mainly directed to network cards and disks, and gradually extends to sound cards, video cards and other devices. Compared with a fully virtualized device, the performance of a semi-virtualized device is higher, but the semi-virtualized device is not as good as a device direct-through technology. In addition, the paravirtualization solution in this research field is diverse, depending on factors such as application scenarios and device performance requirements.
In a modern intelligent cockpit scene, a central control system, an instrument system, a rear seat entertainment screen, a 360-degree panorama and other display systems are often included, and a Camera semi-virtualization scheme is generally used for a multi-system operation scene using a Camera (Camera), but the scheme reduces the expandability and portability of a client Camera driver.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a vehicle and a medium for calling a camera under virtualization management, which are used for realizing two modes of supporting camera direct connection and semi-virtualization and supporting a cross-system multi-path multipurpose scene.
In a first aspect, the present embodiment provides a camera invoking method under virtualization management, which is applied to a vehicle control system of a vehicle, where a virtualization management architecture is erected in the vehicle, the virtualization management architecture is configured with a host in the vehicle control system, a central control client in the vehicle central control system, and an instrument client in an instrument system of the vehicle, and the method includes:
acquiring a camera calling configuration parameter after power-on starting;
if the camera calling configuration parameter is direct calling of a central control system, controlling the central control client to load a camera physical drive and controlling the instrument client to load a camera virtual drive;
and if the camera calling configuration parameter is a semi-virtual calling, controlling the host machine to load a camera physical drive and controlling the central control client and the instrument client to respectively load a camera virtual drive.
In a second aspect, the present embodiment provides a camera invoking device under virtualization management, which is integrated in a vehicle control system of a vehicle, wherein a virtualization management architecture is erected in the vehicle, the virtualization management architecture is configured in the vehicle control system to construct a host, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in an instrument system of the vehicle, and the camera invoking device includes:
the parameter acquisition module is used for acquiring a camera calling configuration parameter after power-on starting;
the camera calling configuration parameter is used for controlling the central control client to load a camera physical drive and the instrument client to load a camera virtual drive if the camera calling configuration parameter is the central control system through calling;
and the paravirtualization calling module is used for controlling the host machine to load the camera physical drive and controlling the central control client and the instrument client to respectively load the camera virtual drive if the camera calling configuration parameter is paravirtualization calling.
In a third aspect, the present embodiment provides a vehicle including:
the system comprises a whole vehicle control system, a central control system, an instrument system and a memory which is in communication connection with the whole vehicle control system, wherein a virtualization management framework is erected in the vehicle, a host machine is constructed in the whole vehicle control system by the virtualization management framework, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in the instrument system of the vehicle; wherein the content of the first and second substances,
the memory stores a computer program which can be executed by the vehicle control system, and the computer program is executed by the vehicle control system, so that the vehicle control system can execute the camera calling method under the virtualization management in the embodiment of the invention.
In a fourth aspect, this embodiment provides a computer-readable storage medium, where computer instructions are stored, and when the computer instructions are executed, the computer instructions are configured to enable a processor to implement a camera call method under virtualization management according to any embodiment of the present invention.
The embodiment of the invention provides a camera calling method, a camera calling device, a vehicle and a medium under virtualization management, wherein the method is applied to a vehicle control system of the vehicle, a virtualization management framework is erected in the vehicle, a host machine is constructed in the vehicle control system of the virtualization management framework, a central control client is constructed in a central control system of the vehicle, and an instrument client is constructed in an instrument system of the vehicle, and the method comprises the following steps: acquiring a camera calling configuration parameter after power-on starting; if the camera calling configuration parameter is direct calling of a central control system, controlling the central control client to load a camera physical drive and controlling the instrument client to load a camera virtual drive; and if the camera calling configuration parameter is a semi-virtual calling, controlling the host machine to load a camera physical drive and controlling the central control client and the instrument client to respectively load a camera virtual drive. According to the technical scheme, the camera calling mode is determined to be the direct calling or the paravirtualization calling of the central control system based on the camera calling configuration parameters, the direct calling and the paravirtualization modes of the camera can be supported, and the multi-path multi-purpose scene of the cross-system is supported.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a camera invoking method under virtualization management according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a camera invocation method under virtualization management according to a second embodiment of the present invention;
fig. 2a is a flowchart illustrating a through call method for a central control system according to a second embodiment of the present invention;
fig. 2b is a flowchart illustrating a paravirtualization calling method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a camera invoking device under virtualization management according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "original", "target", and the like in the description and claims of the present invention and the drawings described above are used for distinguishing similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or 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 one
Fig. 1 is a flowchart of a camera invoking method under virtualization management according to an embodiment of the present invention, where the method is applicable to a situation of a multi-system operating scenario in which a camera is used, and the method may be executed by a camera invoking device under virtualization management, where the camera invoking device under virtualization management may be implemented in a form of hardware and/or software, and the device may be configured in a vehicle control system of a vehicle.
The virtualization management architecture in this embodiment refers to an architecture implemented by using a Hypervisor technology. Hypervisor is an intermediate software layer that runs between the underlying physical server and the operating system, allowing multiple operating systems and applications to share hardware. The computers used by the Hypervisor to execute one or more virtual machines, called hosts, are called clients. The hypervisor provides a virtual operation platform to execute the client operating system and is responsible for managing the execution phases of other client operating systems; the guest operating systems share the virtualized hardware resources.
The method is applied to a whole vehicle control system of a vehicle, a virtualization management framework is erected in the vehicle, a host machine is constructed in the whole vehicle control system through the virtualization management framework, a central control client is constructed in a central control system of the vehicle, and an instrument client is constructed in an instrument system of the vehicle.
As shown in fig. 1, a method for calling a camera under virtualization management provided in this embodiment may specifically include the following steps:
s101, obtaining a camera calling configuration parameter after power-on starting.
In the embodiment, an extensible Camera virtualization method is used, and two modes of Camera direct connection and paravirtualization can be supported. The camera calling configuration parameters refer to Qemu parameters of the analog processor, and only need to pass through two modes above a Qemu parameter area.
Specifically, after the vehicle is powered on and started, the host initializes the virtualization environment. Illustratively, the user ACC ON starts the vehicle. The operation of the host machine initializing the virtualization environment comprises loading a root file system of the host machine, loading physical drivers of various peripheral equipment, building a bridge between clients and the like. Note that loading the camera physical drive is not included at this time. And acquiring the calling configuration parameters after the vehicle is powered on and started.
And S102, judging whether the camera calling configuration parameter is a central control system direct calling or a paravirtualization calling, executing the step S103 if the camera calling configuration parameter is the central control system direct calling, and executing the step S104 if the camera calling configuration parameter is the paravirtualization calling.
In this step, the camera call configuration parameter is used to distinguish whether the central control system is directly called or is called by paravirtualization. The central control system is directly connected with the central control system through a camera, and the para-virtualization is used for realizing the physical drive loading of the camera by the host machine. For the direct call or the paravirtualization call of the central control system, the corresponding Qemu parameters are different, and for example, if the direct call is the direct call of the central control system, the Qemu parameters include a parameter of which system the direct call is directed to.
Specifically, after the camera call configuration parameter is obtained, it is determined whether the camera call configuration parameter is a direct call or a paravirtualization call of the central control system. If the camera calling configuration parameter is the center control system direct calling, which indicates that the current scene is the center control system direct calling, the camera driving loading corresponding to the center control system direct calling needs to be executed; and if the camera call configuration parameter is a paravirtualization call, which indicates that the current scene is the paravirtualization call, executing camera drive loading corresponding to paravirtualization.
S103, loading a camera physical drive by the control center client and loading a camera virtual drive by the instrument client.
Specifically, if the camera call configuration parameter is a central control system direct call, the camera is directly connected to the central control client. The central control client starts up and loads the camera physical drive. At the same time, the meter client starts up, loading the camera virtual drive. In this step, the camera virtual drive loaded by the meter client is in a camera front end virtual drive GG mode. After the central control client loads the camera physical drive, the central control client may capture the original image through the camera device.
It can be understood that, in the present embodiment, the camera is directly connected to the central control system. It is of course also possible to pass the camera through to the instrumentation system or to pass the camera through to other systems if there are multiple systems. Accordingly, the system client loads the camera physical driver, and the other systems load the camera virtual driver.
And S104, controlling the host machine to load the camera physical drive, and controlling the central control client and the instrument client to load the camera virtual drive respectively.
Specifically, if the camera call configuration parameter is a paravirtualization call, the host loads the camera physical drive. At the same time, the meter client starts up, loading the camera virtual drive. In this step, the camera virtual driver loaded by the meter client is in a camera front-end virtual driver HG mode. After the host machine loads the camera physical drive, the host machine can capture an original image through the camera equipment.
It is understood that, in the present embodiment, the central control system and the meter system are described as an example. Of course, if there are multiple systems, the camera virtual driver is loaded on the system client machine respectively.
The embodiment of the invention provides a camera calling method under virtualization management, which is applied to a whole vehicle control system of a vehicle, wherein a virtualization management architecture is erected in the vehicle, a host machine is constructed in the whole vehicle control system by the virtualization management architecture, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in an instrument system of the vehicle, and the method comprises the following steps: acquiring a camera calling configuration parameter after power-on starting; if the camera calling configuration parameters are directly called by the central control system, controlling the central control client to load the camera physical drive and controlling the instrument client to load the camera virtual drive; and if the camera calling configuration parameter is a paravirtualized call, controlling the host machine to load the camera physical drive and controlling the central control client and the instrument client to respectively load the camera virtual drive. According to the technical scheme, the camera calling mode is determined to be the direct calling or the paravirtualization calling of the central control system based on the camera calling configuration parameters, the direct calling and the paravirtualization modes of the camera can be supported, and the multi-path multi-purpose scene of the cross-system is supported.
Example two
Fig. 2 is a schematic flowchart of a camera call method under virtualization management according to a second embodiment of the present invention, which is a further optimization of the second embodiment, and in this embodiment, the optimization is further defined for "controlling the central control client to load the physical camera driver and the meter client to load the virtual camera driver", and the optimization is further defined for "controlling the host to load the physical camera driver and controlling the central control client and the meter client to respectively load the virtual camera driver".
As shown in fig. 2, the second embodiment provides a camera invoking method under virtualization management, which specifically includes the following steps:
s201, obtaining a camera calling configuration parameter after power-on starting.
S202, judging whether the camera calling configuration parameter is a central control system direct call or a paravirtualization call, if the camera calling configuration parameter is the central control system direct call, executing the steps S203-S204, and if the camera calling configuration parameter is the paravirtualization call, executing the steps S205-S206.
And S203, if the camera calling configuration parameters are directly called by the central control system, controlling the central control client to start, and loading the camera physical drive through the central control client.
Specifically, if the camera call configuration parameter is a central control system direct call, the central control client is controlled to start, and because the current scene is that the camera is directly connected to the central control client, the central control client loads a camera physical drive.
And S204, controlling the starting of the meter client, and loading the camera virtual drive through the meter client.
Specifically, the meter client is controlled to be started, the camera virtual drive loaded by the meter client is in a camera front end virtual drive GG mode, and the meter program of the meter client runs normally.
It should be noted that the order of execution of steps S203 and S204 is not specifically limited.
And S205, if the camera calling configuration parameters are semi-virtual calling, controlling the host machine to load the camera physical drive and virtualizing camera back-end equipment based on the simulation processor for the access of the central control client and the instrument client.
Specifically, if the camera call configuration parameter is a paravirtualization call, the host is controlled to load the camera physical drive, and meanwhile, the back-end equipment of the camera is virtualized through the analog processor Qemu to be accessed by the client.
And S206, controlling the central control client to start, and loading the camera virtual drive through the central control client.
Specifically, the meter client is controlled to start, the camera virtual driver loaded by the central control client is in a camera front end virtual driver HG mode, and the meter program of the central control client runs normally.
And S207, controlling the meter client to start, and loading the camera virtual drive through the meter client.
Specifically, the meter client is controlled to start, the camera virtual drive loaded by the meter client is in a camera front end virtual drive HG mode, and the meter program of the meter client runs normally.
It should be noted that, the order of execution of steps S205, S206, and S207 is not specifically limited.
So far, the loading of the camera driving models related to the host machine and the two clients is finished.
The embodiment of the invention embodies the specific steps of loading the camera driving model when the central control system is directly called and the specific steps of loading the camera driving model when the central control system is semi-virtualized called. By using the method, whether the camera calling mode is the direct calling or the paravirtualization calling of the central control system is determined based on the camera calling configuration parameters, the two modes of the direct calling and the paravirtualization of the camera can be supported, the multi-path multi-purpose scene of the cross-system is supported, and the expandability and the transportability of the client computer drive are improved.
As an optional embodiment of the present invention, on the basis of the above embodiment, after the camera is directly called by the central control system, the optional embodiment further includes: the camera device is controlled by the camera physical drive in the central control client to capture raw images and image on the central control screen and the meter screen.
Specifically, if the camera call configuration parameter is the center control system through call, after the camera is called through the center control system, the camera device works normally, and the camera physical drive in the center control client controls the camera device to capture an original image. The central control system captures multi-path images, renders, fuses and outputs the images to the virtual screen through a local Graphics Processing Unit (GPU), and then transmits the images of the virtual screen to the instrument system through a shared memory.
Further, the method for controlling the camera device to capture the original image and image on the center control screen and the instrument screen through the camera physical driving in the center control client comprises the following steps:
a1) the camera device is controlled by the camera physical drive in the central control client to capture the raw images.
Specifically, the camera device works normally, and the camera device is controlled to capture each path of original images through the camera physical drive in the central control client. Illustratively, multiple camera views may be acquired.
b1) And controlling the central control client to process each path of original image according to a set image processing algorithm to obtain a first processing result and outputting the first processing result to a virtual screen of the central control client.
The setting of the image processing algorithm can be understood as GPU rendering fusion, and the multi-path original images are spliced, rasterized and the like.
Specifically, the control center client renders and fuses the acquired multiple paths of original images through a local GPU, and performs splicing, rasterization and the like on the multiple paths of original images. The central control client outputs the rendering fusion result as a first processing result to a local virtual screen, and other applications can copy frame cache data corresponding to the virtual screen to perform secondary service development.
c1) And judging whether the current scene supports cross-system multiplexing of the camera, if so, executing the step d1), and if not, executing the step e 1).
Specifically, whether the current scene supports multi-path cross-system multiplexing of cameras is judged, if the cross-system multiplexing of the cameras is supported, frame cache data on a virtual screen of the central control client can be shared to the instrument client, and if the cross-system multiplexing of the cameras is not supported, a local application program of the central control client can be combined to perform central control interface display.
d1) Based on the first processing result, a first target image is generated and presented on the meter screen.
Specifically, if the current scene supports multi-path camera cross-system multiplexing, a first processing result, namely frame buffer data, on the virtual screen of the central control client is shared to the instrument client. After obtaining the first processing result, the meter client may directly perform meter interface display based on the first processing result, or perform meter interface display after performing secondary rendering processing on the first processing result.
Optionally, based on the first processing result, generating and presenting a first target image on the meter screen includes:
d11) a first data transmission channel between the central control client and the meter client is established.
Specifically, a first data transmission channel between the central control client and the meter client is established. The first data transmission channel is used for sharing the image data in the central control client to the meter client. The first data transmission channel is an IVShm-GG (the Shared Memory Between Guest OS and Guest OS) channel.
d12) And the control center client copies the first processing result on the virtual screen to the first data transmission channel and informs the meter client.
Specifically, the central control client copies the first processing result, i.e., the frame buffer data, to the first data transmission channel, and then notifies the meter client through the inter-system-process synchronization method.
d13) The camera virtual driver of the control meter client copies the first processing result from the first data transmission channel.
Specifically, the camera virtual driver of the control meter client copies the first processing result of the control client virtual screen from the first data transmission channel, and takes this data as the "original image" of the own meter client camera.
d14) And judging whether the meter client supports secondary processing of the first processing result, if so, executing d15), and if not, executing d 16).
Specifically, it is determined whether the meter client supports the secondary rendering processing of the "original image" of the camera virtual drive.
d15) And if so, carrying out secondary processing on the first processing result to generate a first target image and displaying the first target image on the instrument screen.
Specifically, if the meter client supports secondary processing of the first processing result, the first processing result is rendered for the second time through the local GPU in combination with the meter interface and other application programs, so that a final picture is obtained and output to the meter screen. Illustratively, the instrument client performs secondary rendering on the acquired original image, the instrument interface and the navigation icon through a local GPU to obtain a final picture and outputs the final picture to an instrument screen.
d16) And if not, generating a first target image based on the first processing result and the instrument screen control and displaying the first target image on the instrument screen.
Specifically, if the meter client does not support the secondary processing of the first processing result, the final picture is displayed on the meter screen based on the acquired first processing result and the meter screen control. Illustratively, the acquisition of the "raw image" by the meter client implements an Around View Monitor (AVM) function or other functions of the meter client.
e1) And generating a second target image based on the first processing result and presenting the second target image on the central control screen.
Specifically, if the current scene does not support multi-path cross-system multiplexing of cameras, the application program of the central control client obtains a first processing result, namely frame cache data, and adds a screen control to realize a local application function. And if the frame cache data are based, adding a touch screen control to realize a local AVM function.
Alternatively, based on the first processing result, the step of generating and presenting the second target image on the central control screen can be expressed as: the application program of the control center client acquires a first processing result from the virtual screen; and generating a second target image based on the first processing result and the central control screen control and presenting the second target image on the central control screen.
In this step, the application program controlling the central control client obtains the first processing result from the virtual screen, and generates a final picture based on the first processing result and the central control screen control, and the final picture is recorded as the second target image and is output to the central control screen.
This alternative embodiment embodies the steps of controlling the camera device to capture raw images and image on the center control screen and the meter screen by the camera physical drive in the center control client after determining that the camera is called through by the center control system. The method comprises the steps that a camera is directly communicated to a central control system, the central control system captures multiple paths of images and then renders and fuses the images through a local GPU to output the images to a virtual screen, then the images of the virtual screen are transmitted to an instrument system through a shared memory, and after an instrument system camera obtains an 'original image' through virtual driving, the 'original image' and an instrument interface can be rendered and fused for the second time, and final instrument interface display is completed. The technical scheme provided by the optional embodiment supports a cross-system multi-path multi-purpose scene.
As an optional embodiment of the present invention, on the basis of the above embodiment, after invoking the camera through paravirtualization, the optional embodiment further includes: and controlling a camera device to capture an original image through a camera physical drive in the host machine and imaging the original image on a central control screen and an instrument screen.
Specifically, if the camera call configuration parameter is a paravirtualization call, after the camera is called through the paravirtualization, the camera device normally works, the host machine realizes that data obtained after the camera physically drives to capture an original image and through image signal processing is stored in the random access memory RAM, and assuming that a buffer space of 60 frames is refreshed every second, the Qemu process of the central control client and the instrument client copies the original image data from the buffer every second and transmits the original image data to the two clients. And the central control client processes the original image data through the local GPU to generate a final picture and outputs the final picture to the central control screen. And the instrument client processes the original image data through the local GPU to generate a final picture and outputs the final picture to an instrument screen.
Further, capturing the original image through a camera physical drive in the host and imaging on the central control screen and the instrument screen, comprising:
a2) and establishing a second data transmission channel between the meter client and the host machine and a third data transmission channel between the central control client and the host machine.
Specifically, a second data transmission channel between the meter client and the host is established. The second data transmission channel is used for sharing the image data in the host computer to the meter client. The second data transmission channel is an IVShm-HG (the Shared Memory Between Host OS and Guest OS) channel.
And establishing a third data transmission channel between the central control client and the host machine. And the third data transmission channel is used for sharing the image data in the host computer to the central control client. The third data transmission channel is IVShm-HG (the Shared Memory Between Host OS and Guest OS) channel.
b2) And controlling the camera equipment to capture each path of original image through a camera physical drive in the host machine and copying each path of original image to the second data transmission channel and the third data transmission channel respectively.
Specifically, the camera device works normally, and the camera device is controlled to capture each path of original images through the physical driving of the camera in the host machine. Illustratively, multiple camera views may be acquired.
And copying each path of original image into the second data transmission channel and the third data transmission channel respectively, and informing the central control client and the instrument client based on a synchronization method.
c2) And controlling a camera virtual drive of the instrument client to copy each path of original image from the second data transmission channel, and generating a fourth target image based on each path of original image to be presented on the instrument screen.
Specifically, the camera virtual drive of the control instrument client copies each path of original image from the second data transmission channel, and performs rendering or fusion and other processing on each path of original image to generate a final picture, which is recorded as a fourth target image and output to the instrument screen for presentation.
Alternatively, based on the original images, the step of generating the fourth target image to be presented on the meter screen can be expressed as: the control instrument client processes each path of original image according to a set image processing algorithm to obtain a second processing result; and generating a fourth target image based on the second processing result and the instrument screen control and presenting the fourth target image on the instrument screen.
The setting of the image processing algorithm can be understood as GPU rendering fusion, and splicing, rasterization processing and the like are carried out on multiple paths of original images.
Specifically, the control instrument client renders and fuses the acquired multiple paths of original images through the local GPU, performs splicing, rasterization and the like on the multiple paths of original images, and takes the processing result as a second processing result. And generating a fourth target image based on the second processing result and the instrument screen control and presenting the fourth target image on the instrument screen.
d2) And controlling a camera virtual drive of the central control client to copy each path of original image from the third data transmission channel, and generating a fifth target image based on each path of original image to be presented on the central control screen.
Specifically, the camera virtual drive of the central control client is controlled to copy each path of original image from the third data transmission channel, render or fuse each path of original image, and the like to generate a final picture, which is recorded as a fifth target image and output to the central control screen for presentation.
Alternatively, based on the original images, the step of generating the fifth target image to be presented on the central control screen may be expressed as: the control center client processes each path of original image according to a set image processing algorithm to obtain a third processing result; and generating a fifth target image based on the third processing result and the central control screen control and presenting the fifth target image on the central control screen.
Similarly, setting the image processing algorithm may be understood as GPU rendering fusion, splicing multiple paths of original images, rasterizing, and the like.
Specifically, the control center client renders and fuses the acquired multiple paths of original images through the local GPU, performs splicing, rasterization and the like on the multiple paths of original images, and takes a processing result as a third processing result. And generating a fifth target image based on the third processing result and the central control screen control and presenting the fifth target image on the central control screen.
This alternative embodiment embodies the steps of controlling the camera device to capture raw images and image on the center control screen and the meter screen by the camera physical drive in the host after determining to invoke the camera through paravirtualization. The host machine controls the camera equipment to acquire an original image through the camera physical drive, data of the original image after image signal processing is stored in the memory, the central control system and the instrument system copy image data from the cache and transmit the image data to the two systems, image rendering and fusion processing are further carried out, and final images are formed and respectively displayed on the central control screen and the instrument screen. The technical scheme provided by the optional embodiment supports a cross-system multi-path multi-purpose scene.
In order to more clearly express the embodiment of the present invention, a multi-system operation scenario of a camera is taken as an example for description, and it is assumed that the multi-system refers to a central control system and an instrument system. Fig. 2a is a flowchart illustrating a direct call method for a central control system according to a second embodiment of the present invention, and fig. 2b is a flowchart illustrating a paravirtualization call method according to a second embodiment of the present invention. As shown in fig. 2a, the camera call step under virtualization management can be expressed as:
and S1, acquiring the camera calling configuration parameters after power-on starting.
S2, judging whether the camera calling configuration parameters are central control system direct calling or semi-virtualization calling, and if the camera calling configuration parameters are central control system direct calling, executing steps S3-S15; if it is a paravirtualization call, steps S3 'through S15' are performed.
The steps S3 to S15 are steps of the center control system direct call execution, and may be specifically expressed as:
and S3, starting the control center client, and loading the camera physical drive through the control center client.
And S4, controlling the starting of the meter client, and loading the camera virtual driver through the meter client.
And S5, controlling the camera device to capture each path of original image through the camera physical drive in the central control client.
And S6, controlling the central control client to process each path of original image according to the set image processing algorithm to obtain a first processing result and outputting the first processing result to a virtual screen of the central control client.
And S7, judging whether the current scene supports cross-system multiplexing of the camera, if so, executing a step S8, and if not, executing a step S14.
And S8, if the current scene supports the camera multiplexing across systems, establishing a first data transmission channel between the central control client and the meter client.
And S9, the control center client copies the first processing result on the virtual screen to the first data transmission channel and informs the meter client.
S10, the camera virtual driver of the control meter client copies the first processing result from the first data transmission channel.
S11, it is determined whether the meter client supports the secondary processing of the first processing result, if yes, step S12 is executed, and if no, step S13 is executed.
And S12, carrying out secondary processing on the first processing result to generate a first target image and displaying the first target image on the instrument screen.
And S13, generating a first target image based on the first processing result and the meter screen control and presenting the first target image on the meter screen.
S14, the application program controlling the center control client obtains the first processing result from the virtual screen.
And S15, generating a second target image based on the first processing result and the center control screen control and presenting the second target image on the center control screen.
As shown in fig. 2b, steps S3 'to S15' are steps of executing a paravirtualization call, and steps S3 'to S9' are steps for an instrumentation system, which may be specifically expressed as:
s3', control the host machine to load the camera physical drivers and to virtualize the camera back end device based on the simulation processor.
S4', control the meter client to start up and load the camera virtual driver through the meter client.
S5', establishing a second data transmission channel between the meter client and the host.
And S6', controlling the camera device to capture each path of original image through the camera physical drive in the host machine and copying each path of original image to the second data transmission channel respectively.
S7', the camera virtual driver of the control meter client copies the original images from the second data transmission channel.
S8', the control instrument client processes each path of original image according to the set image processing algorithm to obtain a second processing result.
S9', a fourth target image is generated based on the second processing result and the meter screen control, and presented on the meter screen.
Steps S10 'to S15' are steps for the center control system, and may be specifically expressed as:
s10', the control center client starts up, and the camera virtual driver is loaded by the control center client.
S11', a third data transmission channel between the central control client and the host machine is established.
And S12', controlling the camera device to capture each path of original image through the camera physical drive in the host machine and copying each path of original image to the third data transmission channel respectively.
S13', the camera virtual driver of the controlling client copies the original images from the third data transmission channel.
S14', the control center control client processes each path of original image according to the set image processing algorithm to obtain a third processing result.
S15', a fifth target image is generated based on the third processing result and the center screen control and presented on the center screen.
It can be understood that, in the paravirtualization calling mode, the screen generation of the meter system and the screen generation of the meter system are not affected, and both the screen generation and the screen generation are performed by acquiring an original image from a host computer and performing related image processing and presentation.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a camera invoking device under virtualization management according to a third embodiment of the present invention, which is applicable to a situation of a multi-system operating scenario in which a camera is used, and the device may be implemented in a hardware and/or software form and is generally integrated in a vehicle control system of a vehicle, where a virtualization management architecture is installed in the vehicle, the virtualization management architecture is configured with a host in the vehicle control system, a central control client in the vehicle central control system, and an instrument client in the instrument system of the vehicle. As shown in fig. 3, the apparatus includes: a parameter acquisition module 31, a pass-through invocation module 32, and a paravirtualization invocation module 33, wherein,
the parameter acquiring module 31 is configured to acquire a camera call configuration parameter after power-on start;
the direct call module 32 is used for controlling the central control client to load the camera physical drive and the instrument client to load the camera virtual drive if the camera call configuration parameter is the direct call of the central control system;
and a paravirtualization calling module 33, configured to, if the camera calling configuration parameter is paravirtualization calling, control the host to load the camera physical driver and control the central control client and the instrument client to load the camera virtual driver respectively.
Optionally, the pass-through calling module 32 is specifically configured to:
controlling a central control client to start, and loading a camera physical drive through the central control client;
the control meter client starts up and loads the camera virtual driver through the meter client.
Optionally, the paravirtualization invoking module 33 is specifically configured to:
the control host machine loads a camera physical drive and virtualizes camera back-end equipment based on an analog processor so as to be accessed by a central control client and an instrument client;
controlling a central control client to start, and loading a camera virtual drive through the central control client;
the control meter client starts up and loads the camera virtual drive through the meter client.
Optionally, the apparatus further comprises a first imaging module for:
the camera device is controlled by the camera physical drive in the central control client to capture raw images and image on the central control screen and the meter screen.
Further, the first imaging module includes:
the first capture unit is used for controlling the camera equipment to capture each path of original images through the camera physical driving in the central control client;
the first result determining unit is used for controlling the central control client to process each path of original image according to a set image processing algorithm, obtaining a first processing result and outputting the first processing result to a virtual screen of the central control client;
and the target image presentation unit is used for judging whether the current scene supports cross-system multiplexing of the camera, generating a first target image based on a first processing result and presenting the first target image on the instrument screen if the current scene supports cross-system multiplexing of the camera, and generating a second target image based on the first processing result and presenting the second target image on the central control screen if the current scene does not support cross-system multiplexing of the camera.
Optionally, the target image presenting unit includes a meter image subunit, and the meter image subunit is specifically configured to:
establishing a first data transmission channel between a central control client and a meter client;
the control center control client copies the first processing result on the virtual screen to the first data transmission channel and informs the instrument client;
copying a first processing result from the first data transmission channel by a camera virtual drive of the control instrument client;
judging whether the meter client supports secondary processing of the first processing result;
if so, performing secondary processing on the first processing result to generate a first target image and displaying the first target image on the instrument screen;
and if not, generating a first target image based on the first processing result and the instrument screen control and displaying the first target image on the instrument screen.
Optionally, the target image presenting unit includes a central control image subunit, and the central control image subunit is specifically configured to:
the application program of the control center client acquires a first processing result from the virtual screen;
and generating a second target image based on the first processing result and the central control screen control and presenting the second target image on the central control screen.
Optionally, the apparatus further comprises a second imaging module for:
the camera device is controlled by the physical drive of the camera in the host machine to capture the original image and image on the central control screen and the instrument screen.
Optionally, a second imaging module comprising:
the channel establishing module is used for establishing a second data transmission channel between the instrument client and the host machine and a third data transmission channel between the central control client and the host machine;
the image copying module is used for controlling the camera equipment to capture each path of original image through the camera physical drive in the host machine and copying each path of original image to the second data transmission channel and the third data transmission channel respectively;
the instrument image presentation unit is used for controlling a camera virtual drive of the instrument client to copy each path of original image from the second data transmission channel, and generating a fourth target image based on each path of original image to present on the instrument screen;
and the central control image presentation unit is used for controlling the camera virtual drive of the central control client to copy each path of original image from the third data transmission channel and generate a fifth target image to be presented on the central control screen based on each path of original image.
Further, the meter image presenting unit is specifically configured to:
the control instrument client processes each path of original image according to a set image processing algorithm to obtain a second processing result;
and generating a fourth target image based on the second processing result and the instrument screen control and presenting the fourth target image on the instrument screen.
Further, the central control image presenting unit is specifically configured to:
the control center client processes each path of original image according to a set image processing algorithm to obtain a third processing result;
and generating a fifth target image based on the third processing result and the central control screen control and presenting the fifth target image on the central control screen.
The camera calling device under virtualization management provided by the embodiment of the invention can execute the camera calling method under virtualization management provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. As shown in fig. 4, the vehicle includes:
the system comprises a vehicle control system 41, a central control system 42, an instrument system 43 and a memory 44 which is in communication connection with the vehicle control system, wherein a virtualization management framework is erected in the vehicle, a host is constructed in the vehicle control system by the virtualization management framework, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in the instrument system of the vehicle; wherein the content of the first and second substances,
the memory stores a computer program executable by the vehicle control system, and the computer program is executed by the vehicle control system, so that the vehicle control system can execute the camera calling method under virtualization management in any of the embodiments.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a camera call method under virtualization management, and the method includes:
acquiring a camera calling configuration parameter after power-on starting;
if the camera calling configuration parameter is direct calling of a central control system, controlling the central control client to load a camera physical drive and controlling the instrument client to load a camera virtual drive;
and if the camera calling configuration parameter is a semi-virtual calling, controlling the host machine to load a camera physical drive and controlling the central control client and the instrument client to respectively load a camera virtual drive.
Of course, the storage medium provided by the embodiment of the present invention includes computer-executable instructions, where the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the camera call method under virtualization management provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the camera call device under virtualization management, each unit and each module included in the embodiment are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A camera calling method under virtualization management is characterized in that the method is applied to a vehicle control system of a vehicle, a virtualization management architecture is erected in the vehicle, the virtualization management architecture is provided with a host machine in the vehicle control system, a central control client machine is constructed in a central control system of the vehicle, and an instrument client machine is constructed in an instrument system of the vehicle, and the method comprises the following steps:
acquiring a camera calling configuration parameter after power-on starting;
if the camera calling configuration parameter is direct calling of the central control system, controlling the central control client to load a camera physical drive and the instrument client to load a camera virtual drive;
and if the camera calling configuration parameter is a semi-virtual calling, controlling the host machine to load a camera physical drive and controlling the central control client and the instrument client to respectively load a camera virtual drive.
2. The method of claim 1, wherein the controlling the central client to load a camera physical driver and the meter client to load a camera virtual driver comprises:
controlling the central control client to start and loading a camera physical drive through the central control client;
and controlling the meter client to start and loading a camera virtual drive through the meter client.
3. The method of claim 1, wherein the controlling the host machine to load a camera physical driver, the central control client to load a camera virtual driver, and the meter client to load a camera virtual driver comprises:
controlling the host machine to load a camera physical drive and virtualize camera backend equipment based on an analog processor for access by the central control client and the instrument client;
controlling the central control client to start and loading a camera virtual drive through the central control client;
and controlling the meter client to start and loading a camera virtual drive through the meter client.
4. The method of claim 1, further comprising, after calling a camera through the central control system:
the camera device is controlled by the camera physical drive in the central control client to capture raw images and image on the central control screen and the meter screen.
5. The method of claim 4, wherein the capturing and imaging of raw images on a center screen and a meter screen by a camera physical drive control camera device in the center client comprises:
controlling camera equipment to capture each path of original images through camera physical driving in the central control client;
controlling the central control client to process each path of original image according to a set image processing algorithm to obtain a first processing result and outputting the first processing result to a virtual screen of the central control client;
and judging whether the current scene supports cross-system multiplexing of the camera, if so, generating a first target image based on the first processing result and presenting the first target image on an instrument screen, and if not, generating a second target image based on the first processing result and presenting the second target image on a central control screen.
6. The method of claim 5, wherein generating and presenting a first target image on a meter screen based on the first processing result comprises:
establishing a first data transmission channel between the central control client and the meter client;
controlling the central control client to copy a first processing result on the virtual screen to the first data transmission channel and inform the first processing result to the meter client;
controlling a camera virtual driver of the meter client to copy the first processing result from the first data transmission channel;
determining whether the meter client supports secondary processing of the first processing result;
if so, performing secondary processing on the first processing result to generate a first target image and displaying the first target image on an instrument screen;
and if not, generating a first target image based on the first processing result and the instrument screen control and displaying the first target image on the instrument screen.
7. The method of claim 5, wherein generating and presenting a second target image on a center control screen based on the first processing result comprises:
controlling an application program of the central control client to acquire a first processing result from the virtual screen;
and generating a second target image based on the first processing result and the central control screen control and presenting the second target image on the central control screen.
8. The method of claim 1, after invoking a camera through the paravirtualization, further comprising:
and controlling a camera device to capture a raw image through a camera physical drive in the host and imaging on a central control screen and an instrument screen.
9. The method of claim 8, wherein capturing raw images and imaging on a center control screen and a meter screen by a camera physical drive in the host comprises:
establishing a second data transmission channel between the instrument client and the host machine and a third data transmission channel between the central control client and the host machine;
controlling camera equipment to capture each path of original image through a camera physical drive in the host machine and copying each path of original image to the second data transmission channel and the third data transmission channel respectively;
controlling a camera virtual drive of the instrument client to copy the original images from the second data transmission channel, and generating a fourth target image based on the original images to be displayed on an instrument screen;
and controlling a camera virtual drive of the central control client to copy the original images from the third data transmission channel, and generating a fifth target image based on the original images to be presented on a central control screen.
10. The method of claim 9, wherein generating a fourth target image for presentation on a meter screen based on the raw images comprises:
controlling the instrument client to process the original images of all paths according to a set image processing algorithm to obtain a second processing result;
and generating a fourth target image based on the second processing result and the instrument screen control and displaying the fourth target image on the instrument screen.
11. The method according to claim 9, wherein the generating a fifth target image to be presented on the center control screen based on the original images comprises:
controlling the central control client to process the original images of all paths according to a set image processing algorithm to obtain a third processing result;
and generating a fifth target image based on the third processing result and the central control screen control and presenting the fifth target image on the central control screen.
12. The utility model provides a camera calling device under virtualization management, its characterized in that integrates in the whole vehicle control system of vehicle, the vehicle is built up the virtualization management framework, the virtualization management framework is in whole vehicle control system has constructed the host computer, has constructed central control client in the central control system of vehicle, has constructed instrument client in the instrument system of vehicle, the device includes:
the parameter acquisition module is used for acquiring a camera calling configuration parameter after power-on starting;
the camera calling configuration parameter is used for controlling the central control client to load a camera physical drive and the instrument client to load a camera virtual drive if the camera calling configuration parameter is the central control system through calling;
and the paravirtualization calling module is used for controlling the host machine to load the camera physical drive and controlling the central control client and the instrument client to respectively load the camera virtual drive if the camera calling configuration parameter is paravirtualization calling.
13. A vehicle, characterized in that the vehicle comprises:
the system comprises a whole vehicle control system, a central control system, an instrument system and a memory which is in communication connection with the whole vehicle control system, wherein a virtualization management framework is erected in the vehicle, a host machine is constructed in the whole vehicle control system by the virtualization management framework, a central control client is constructed in the central control system of the vehicle, and an instrument client is constructed in the instrument system of the vehicle; wherein the content of the first and second substances,
the memory stores a computer program executable by the overall vehicle control system, the computer program being executed by the overall vehicle control system to enable the overall vehicle control system to execute the camera call method under virtualization management of any of claims 1-11.
14. A computer-readable storage medium storing computer instructions for causing a processor to implement the camera call method under virtualization management of any one of claims 1-11 when executed.
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