CN115209050A - Image processing method, in-vehicle system, vehicle, and medium - Google Patents
Image processing method, in-vehicle system, vehicle, and medium Download PDFInfo
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Abstract
The invention relates to the technical field of camera shooting, and discloses an image processing method, a vehicle-mounted system, a vehicle and a medium. The image processing method is applied to a vehicle-mounted camera device of a vehicle-mounted system. According to the invention, when a synchronous instruction of a driving platform host is received, image data around a vehicle is collected through a camera module, the image data is converted into a serial signal, and the serial signal is sent to a deserializer; analyzing the serial signal through a deserializer to form first image data; carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to a driving platform host; therefore, data acquisition and image processing are completed at a far end, the processed data are transmitted back to the host, and the data are synchronously fused with other sensor data of the host.
Description
Technical Field
The present invention relates to the field of imaging technologies, and in particular, to an image processing method, a vehicle-mounted system, a vehicle, and a medium.
Background
The vehicle-mounted camera is known as "eyes for automatic Driving" and is an important sensing device in the fields of ADAS (Advanced Driving Assistance System) and automatic Driving of automobiles. The automatic driving needs to perform sensor data fusion processing and decision making, an external multi-path camera is required to transmit images to a central processing unit at high speed and high quality for processing, and meanwhile, the multi-path camera is required to achieve data synchronous acquisition.
At present, an IPCAMERA (Internet protocol camera) can transmit video images, but original video data needs to be coded and then transmitted back to a host computer through a network for decoding, so that the real-time performance is poor, system resources are occupied, accurate data fusion cannot be carried out, and a CPU (central processing unit) of the host computer does not have redundant computing power to carry out data processing. Especially, the camera of IPCAMERA is generally integrated with the main board of the processor, so that the size is large, and the vehicle-mounted application cannot be met.
Disclosure of Invention
The invention mainly aims to provide an image processing method, a vehicle-mounted system, a vehicle and a medium, aiming at realizing the purposes of completing data acquisition and image processing at a far end, transmitting the processed data back to a host and synchronously fusing the processed data with other sensor data of the host.
In order to achieve the above object, the present invention provides an image processing method applied to a vehicle-mounted image pickup apparatus of a vehicle-mounted system, the vehicle-mounted image pickup apparatus including at least one camera module and a deserializer, the image processing method including:
when a synchronous instruction of a driving platform host is received, acquiring image data around a vehicle through the camera module, converting the image data into a serial signal, and sending the serial signal to the deserializer;
analyzing the serial signal through the deserializer to form first image data;
and carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host.
Preferably, the step of forming first image data by parsing the serial signal by the deserializer includes:
and analyzing the serial signal through the deserializer according to a preset interface standard to form first image data which accords with the preset interface standard.
Preferably, the image processing and time stamping the first image data to form image data with time stamp includes:
and carrying out image processing on the first image data according to a preset image processing algorithm, and marking a time stamp on the result of image analysis to form image data carrying the time stamp.
Preferably, the vehicle-mounted camera device further includes a vehicle-mounted ethernet, and the step of sending the image data with the timestamp to the driving platform host includes:
and sending the image data with the timestamp to a vehicle-mounted Ethernet, and sending the image data with the timestamp to a driving platform host through the vehicle-mounted Ethernet.
Preferably, before the step of acquiring image data around the vehicle by the camera module when a synchronization command of the driving platform host is received, the image processing method further includes:
and connecting the camera module with the deserializer through coaxial line connection or twisted pair connection.
Preferably, before the step of acquiring image data around the vehicle by the camera module when a synchronization command of the driving platform host is received, the image processing method further includes:
and connecting the deserializer with a processor of the vehicle-mounted camera device through an interface, wherein the interface connection mode comprises one or more of MIPI (mobile industry processor interface) connection, I2C (inter-integrated circuit) interface connection and GPI0 communication interface connection.
The invention also provides an image processing method, which is applied to a driving platform host of a vehicle-mounted system and comprises the following steps:
sending a synchronization instruction to a vehicle-mounted camera device so that the vehicle-mounted camera device can acquire image data around a vehicle and convert the image data into a serial signal, sending the serial signal to a deserializer of the vehicle-mounted camera device, analyzing the serial signal through the deserializer to form first image data, processing the first image data and determining image data carrying a timestamp;
and when the image data with the time stamp sent by the vehicle-mounted camera device is received, carrying out image fusion on the image data with the time stamp, and determining image display data.
In addition, to achieve the above object, the present invention also provides an in-vehicle system, including:
the driving platform host is used for sending a synchronization instruction to the vehicle-mounted camera device;
the vehicle-mounted camera device is used for acquiring image data around a vehicle through the camera module when a synchronous instruction of the driving platform host is received, converting the image data into a serial signal and sending the serial signal to the deserializer;
the vehicle-mounted camera device is used for analyzing the serial signals through the deserializer to form first image data;
the vehicle-mounted camera device is used for carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host;
and the driving platform host is used for carrying out image fusion on the image data with the time stamp and determining image display data when receiving the image data with the time stamp sent by the vehicle-mounted camera device.
Further, to achieve the above object, the present invention also provides a vehicle comprising: a memory, a processor and an image processing program stored on the memory and executable on the processor, the image processing program, when executed by the processor, implementing the steps of the image processing method as described above.
Further, to achieve the above object, the present invention also provides a medium which is a computer readable storage medium having stored thereon an image processing program which, when executed by a processor, implements the steps of the image processing method as described above.
The invention provides an image processing method, a vehicle-mounted system, a vehicle and a medium; the image processing method is applied to a vehicle-mounted camera device of a vehicle-mounted system, the vehicle-mounted camera device comprises at least one camera module and a deserializer, and the image processing method comprises the following steps: when a synchronous instruction of a driving platform host is received, acquiring image data around a vehicle through the camera module, converting the image data into a serial signal, and sending the serial signal to the deserializer; analyzing the serial signal through the deserializer to form first image data; and carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host. According to the invention, when a synchronous instruction of a driving platform host is received, image data around a vehicle is collected through a camera module, the image data is converted into a serial signal, and the serial signal is sent to a deserializer; analyzing the serial signal through a deserializer to form first image data; carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to a driving platform host; therefore, data acquisition and image processing are completed at a far end, the processed data are transmitted back to the host, and the data are synchronously fused with other sensor data of the host.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of an image processing method according to the present invention;
FIG. 3 is a schematic diagram of an onboard system according to a first embodiment of the image processing method of the present invention;
FIG. 4 is a flowchart illustrating a third embodiment of an image processing method according to the present invention;
FIG. 5 is a flowchart illustrating a fourth embodiment of an image processing method according to the present invention;
fig. 6 is a functional block diagram of an image processing apparatus according to a first embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The apparatus of the embodiment of the present invention may be a vehicle.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an image processing program.
The operating system is a program for managing and controlling the vehicle and software resources, and supports the running of a network communication module, a user interface module, an image processing program and other programs or software; the network communication module is used for managing and controlling the network interface 1002; the user interface module is used to manage and control the user interface 1003.
In the vehicle shown in fig. 1, the vehicle calls an image processing program stored in the memory 1005 by the processor 1001, and performs operations in the respective embodiments of the image processing method described below.
Based on the hardware structure, the embodiment of the image processing method is provided.
Referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of an image processing method according to the present invention, where the image processing method includes:
step S10, when a synchronous instruction of a driving platform host is received, acquiring image data around a vehicle through the camera module, converting the image data into a serial signal, and sending the serial signal to the deserializer;
step S20, analyzing the serial signal through the deserializer to form first image data;
and S30, carrying out image analysis and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host.
In the embodiment, when a synchronous instruction of a driving platform host is received, the camera module is used for collecting image data around a vehicle, converting the image data into a serial signal and sending the serial signal to the deserializer; analyzing the serial signal through a deserializer to form first image data; carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to a driving platform host; therefore, data acquisition and image processing are completed at a far end, the processed data are transmitted back to the host, and the data are synchronously fused with other sensor data of the host.
The respective steps will be described in detail below:
and step S10, when a synchronous instruction of a driving platform host is received, acquiring image data around the vehicle through the camera module, converting the image data into a serial signal, and sending the serial signal to the deserializer.
In the present embodiment, the image processing method is applied to an in-vehicle imaging apparatus of an in-vehicle system, wherein the in-vehicle system includes the in-vehicle imaging apparatus and a driving platform host. Referring to fig. 3, fig. 3 is a schematic diagram of an in-vehicle system. The vehicle-mounted camera device mainly comprises at least one camera module, a deserializer, a processor, a vehicle-mounted Ethernet, a power module and a memory.
The camera module is connected with the deserializer and mainly comprises a lens, an image sensor and a serializer, wherein the lens is used for shooting images of the surrounding environment of the vehicle; the image sensor is used for capturing and collecting images shot by the lens and processing the images to form image data; the serializer is used for receiving image data, converting the image data into a serial signal and transmitting the serial signal to the deserializer.
The deserializer is respectively connected with the camera module and the processor and is used for deserializing the serial signals and then recombining, packaging and converting the converted first image data and then transmitting the first image data to the processor.
The processor is connected with the deserializer, and a high-performance ARM processor core and a special AI core are arranged in the processor, wherein the special AI core is used for carrying out image analysis on image data, including but not limited to detection and classification of vehicles, pedestrians, lane lines, traffic signs and traffic lights, semantic segmentation of travelable areas, road edges and fences, scene and environment identification and the like. Preferably, the computing power in the processor AI does not need to be too high, the 5TOPS computing power can process the 2-channel 1080P @30FPS video input, and the power consumption within 3W meets the requirement of small volume of the device.
The ARM processor core is mainly used for system operation, task scheduling and data transmission coordination, for example, video data processed by the special AI core is transmitted to the automatic driving platform host through the Ethernet.
The processor is used for carrying out image processing and time stamping on the first image data, forming image data with time stamps, and sending the image data with the time stamps to the driving platform host.
And the vehicle-mounted Ethernet is used for transmitting the data processed by the processor back to the automatic driving host so that the automatic driving host can fuse the data.
The memory is respectively connected with the camera module, the deserializer and the processor, and the memory is used for storing image data, serial signals, first image data and image data carrying timestamps. The memory comprises an eMMC module and an LPDDR4 module, and the eMMC module is used for storing a starting file of the vehicle-mounted camera device; the LPDDR4 module is used for temporarily storing the running and all processing data of the vehicle-mounted camera device.
The power module is respectively connected with the camera module, the deserializer, the processor and the memory, and the power module is used for providing power for the camera module, the deserializer, the processor and the memory and monitoring the power states of the camera module, the deserializer, the processor and the memory. The power manager provides power for each element of the camera system and monitors the power state of each element in the system.
By arranging the plurality of camera modules in the vehicle environment, when the vehicle-mounted camera device receives a synchronous signal sent by the automatic driving platform host, the synchronous signal is simultaneously transmitted to the plurality of camera modules, so that the plurality of camera modules can realize frame synchronous acquisition and transmission control in time and space; the general update period of the synchronization signal is preferably 1 second.
When the vehicle-mounted camera device receives a synchronous instruction of the driving platform host, the camera module is used for collecting image data around the vehicle, converting the image data into a serial signal and sending the serial signal to the deserializer.
Further, referring to fig. 3, in another embodiment, before step S10, the image processing method further includes: and connecting the camera module with the deserializer through coaxial line connection or twisted pair connection.
In this embodiment, before the step of receiving the synchronization instruction of the driving platform host, the camera module is connected to the deserializer through a coaxial line or a twisted pair line; the twisted pair includes an STP twisted pair (shielded twisted pair), and the coaxial line and the twisted pair have a small diameter and a long transmission distance. The camera module is connected with the deserializer through a coaxial cable or a twisted pair, occupies small wiring space of a vehicle, and can realize long-distance transmission of image data.
Further, referring to fig. 3, in another embodiment, before step S10, the image processing method further includes: and connecting the deserializer with a processor of the vehicle-mounted camera device through an interface, wherein the interface connection mode comprises one or more of MIPI (mobile industry processor interface) connection, I2C (inter-integrated circuit) interface connection and GPI0 communication interface connection.
In this embodiment, before the step of receiving the synchronization instruction of the driving platform host, the first image data is transmitted to the processor according to the CSI-2 protocol requirement through the MIPI interface (the mobile industry processor 30 interface), and data transmission with a bandwidth as high as 1.6Gbps/lane can be realized through the MIPI interface (the mobile industry processor 30 interface) connection, so that the processing delay is short. Referring to fig. 3, when a plurality of camera modules are arranged in a vehicle environment, the processor can control the remote cameras to realize frame synchronization acquisition and transmission control in time and space through a GPIO (general purpose input/output) control interface.
And step S20, analyzing the serial signals through the deserializer to form first image data.
In this embodiment, after receiving the serial signal sent by the camera module, the deserializer deserializes the serial signal, reassembles, packages and converts the converted first image data, and transmits the first image data to the processor of the vehicle-mounted imaging device.
And S30, performing image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host.
In this embodiment, after receiving the first image data sent by the deserializer, the processor of the vehicle-mounted imaging device performs image processing on the first image data to generate corresponding image processing data; the image processing data is marked with a time stamp to form corresponding image data with the time stamp; then sending the image data with the timestamp to a driving platform host; the time stamp can be used for synchronizing the image data with the time stamp, so that the driving platform host can conveniently perform subsequent processing.
In the embodiment, when a synchronous instruction of a driving platform host is received, the camera module is used for collecting image data around a vehicle, converting the image data into a serial signal and sending the serial signal to the deserializer; analyzing the serial signal through a deserializer to form first image data; carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to a driving platform host; therefore, data acquisition and image processing are completed at a far end, the processed data are transmitted back to the host, and the data are synchronously fused with other sensor data of the host.
Further, based on the first embodiment of the image processing method of the present invention, a second embodiment of the image processing method of the present invention is proposed.
The second embodiment of the image processing method is different from the first embodiment of the image processing method in that this embodiment is to analyze the serial signal by the deserializer to form a refinement of the first image data in step S20, which specifically includes:
and S21, analyzing the serial signal through the deserializer according to a preset interface standard to form first image data conforming to the preset interface standard.
In this embodiment, a deserializer parses a serial signal according to a preset interface standard to form first image data conforming to the preset interface standard; high-speed transmission of image data and ultralow data delay are realized.
The respective steps will be described in detail below:
and S21, analyzing the serial signal through the deserializer according to a preset interface standard to form first image data conforming to the preset interface standard.
In this embodiment, when receiving a serial signal sent by a camera module, a deserializer parses the serial signal into first image data meeting a preset interface standard according to the preset interface standard; the preset interface standard is preferably data of an MIPI CSI-2 interface standard, and has an ultra-low data delay characteristic.
In this embodiment, a deserializer parses a serial signal according to a preset interface standard to form first image data conforming to the preset interface standard; high-speed transmission of image data and ultralow data delay are realized.
Further, based on the first and second embodiments of the image processing method of the present invention, a third embodiment of the image processing method of the present invention is provided.
The third embodiment of the image processing method is different from the first and second embodiments of the image processing method in that, in step S30, the third embodiment of the image processing method performs image processing and time stamping on the first image data to form image data with a time stamp, and sends the image data with the time stamp to the driver platform host for refinement, referring to fig. 4, the step specifically includes:
step S31, according to a preset image processing algorithm, carrying out image processing on the first image data, and marking a time stamp on a result after the image processing to form image data with the time stamp;
and S32, sending the image data with the timestamp to a vehicle-mounted Ethernet, and sending the image data with the timestamp to a driving platform host through the vehicle-mounted Ethernet.
In this embodiment, according to a preset image processing algorithm, image processing is performed on first image data, and a timestamp is marked on a result of the image processing to form image data with the timestamp; sending the image data with the time stamp to a vehicle-mounted Ethernet, and sending the image data with the time stamp to a driving platform host through the vehicle-mounted Ethernet; therefore, image processing is carried out on the image data of the far end, access expansion of the vehicle-mounted camera device on the driving platform host is achieved, and power consumption of the driving platform host is reduced.
The respective steps will be described in detail below:
and S31, performing image processing on the first image data according to a preset image processing algorithm, and marking a time stamp on a result of the image processing to form image data with the time stamp.
In this embodiment, when first image data sent by a deserializer is received, a processor of a vehicle-mounted camera device performs image processing on the first image data according to a preset image processing algorithm to generate corresponding image processing data; and time stamping the image processing data through a processor to form image data carrying the time stamp.
The preset image processing algorithm is preferably an image detection classification, semantic segmentation and image recognition algorithm, wherein the preset image processing algorithm includes, but is not limited to, detection classification of vehicles, pedestrians, lane lines, traffic signs, traffic lights, drivable areas, road edges, fence semantic segmentation, scene and environment recognition and the like.
The time stamp can be as the reference basis that the driving platform host computer comes from different sensor data, if set up a plurality of camera modules in vehicle environment, also be the camera sensor promptly, can be accurate to each frame data in step according to this time stamp.
And S32, sending the image data with the timestamp to a vehicle-mounted Ethernet, and sending the image data with the timestamp to a driving platform host through the vehicle-mounted Ethernet.
In this embodiment, the vehicle-mounted image capturing apparatus further includes a vehicle-mounted ethernet, and the vehicle-mounted ethernet is connected to the processor of the vehicle-mounted image capturing apparatus and the driving platform host, respectively. After the processor processes the first image data to form image data with a timestamp, the image data with the timestamp is sent to a vehicle-mounted Ethernet through the processor, and the vehicle-mounted Ethernet is provided to transmit the image data with the timestamp to a driving platform host; therefore, the data fusion processing is carried out on the driving platform host.
In this embodiment, according to a preset image processing algorithm, image processing is performed on first image data, and a timestamp is marked on a result of the image processing to form image data with the timestamp; sending the image data with the time stamp to a vehicle-mounted Ethernet, and sending the image data with the time stamp to a driving platform host through the vehicle-mounted Ethernet; therefore, image processing is carried out on the image data of the far end, access expansion of the vehicle-mounted camera device on the driving platform host is achieved, and power consumption of the driving platform host is reduced.
Referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of an image processing method according to the present invention, where the image processing method is applied to a driving platform host of a vehicle-mounted system, and the image processing method includes:
step A10, sending a synchronization instruction to a vehicle-mounted camera device to enable the vehicle-mounted camera device to acquire image data around a vehicle and convert the image data into a serial signal, sending the serial signal to a deserializer of the vehicle-mounted camera device, analyzing the serial signal through the deserializer to form first image data, and performing image processing and timestamp marking on the first image data to form image data with a timestamp;
and A20, receiving the image data with the time stamp sent by the vehicle-mounted camera device, carrying out image fusion on the image data with the time stamp, and determining image display data.
In the embodiment, a synchronization signal is sent to the vehicle-mounted camera device through the driving platform host, so that the vehicle-mounted camera device collects image data around a vehicle according to the synchronization signal and converts the image data into a serial signal, the serial signal is sent to a deserializer of the vehicle-mounted camera device, the serial signal is analyzed through the deserializer to form first image data, and the image data is subjected to image processing and time stamp marking to form image data with time stamps; the driving platform host receives image data carrying a time stamp sent by the vehicle-mounted camera device, performs image fusion on the image data carrying the time stamp and determines image display data; therefore, synchronous fusion of image data of different sensors is realized.
The respective steps will be described in detail below:
step A10, sending a synchronization instruction to a vehicle-mounted camera device to enable the vehicle-mounted camera device to acquire image data around a vehicle, converting the image data into a serial signal, sending the serial signal to a deserializer of the vehicle-mounted camera device, analyzing the serial signal through the deserializer to form first image data, and performing image processing and timestamp marking on the first image data to form image data with a timestamp.
In this embodiment, the image processing method is applied to a driving platform host of an in-vehicle system, wherein the in-vehicle system includes an in-vehicle camera device and the driving platform host. Referring to fig. 3, fig. 3 is a schematic diagram of an in-vehicle system. The vehicle-mounted camera device mainly comprises at least one camera module, a deserializer, a processor, a vehicle-mounted Ethernet, a power module and a memory.
The method comprises the steps that a plurality of camera modules are arranged in a vehicle environment, and a driving platform host sends synchronous signals to the camera modules of the vehicle-mounted camera device; the camera modules synchronously acquire image data around the vehicle according to the synchronous signals, so that the camera modules can realize frame synchronous acquisition and transmission control in time and space; wherein, the general updating period of the synchronous signal is preferably 1 second.
The camera module converts the image data into a serial signal and transmits the serial signal to a deserializer of the vehicle-mounted camera device so that the deserializer can analyze the serial signal to form corresponding first image data.
The deserializer sends the first image data to a processor of the vehicle-mounted camera device, so that the processor can perform image processing and time stamping on the first image data to form image data with time stamps, and the image data with the time stamps is sent to the driving platform host.
And A20, receiving the image data with the time stamp sent by the vehicle-mounted camera device, carrying out image fusion on the image data with the time stamp, and determining image display data.
In this embodiment, the driving platform host receives the image data with the time stamp sent by the vehicle-mounted camera device, and performs image fusion on the image data with the time stamp through the driving platform host to determine corresponding image display data; after the image display data are determined, the image display data can be displayed on a display panel corresponding to the driving platform host, so that the requirements of a vehicle-mounted advanced driving auxiliary system and an automatic driving camera system are met, and the real-time, reliable and accurate application of the advanced driving auxiliary system and the automatic driving system is realized.
The vehicle-mounted camera device is connected with the driving platform host, so that the automatic driving platform with insufficient software and hardware resources can be conveniently used for accessing and expanding the high-definition camera, and the power consumption of the driving platform host is reduced.
In the embodiment, a synchronization signal is sent to the vehicle-mounted camera device through the driving platform host, so that the vehicle-mounted camera device collects image data around a vehicle according to the synchronization signal and processes the image data to determine the image data with a timestamp; the driving platform host receives image data carrying a time stamp sent by the vehicle-mounted camera device, performs image fusion on the image data carrying the time stamp and determines image display data; therefore, synchronous fusion of image data of different sensors is realized.
The invention also provides an image processing device. Referring to fig. 6, the image processing apparatus of the present invention includes:
the acquisition module 10 is used for acquiring image data around the vehicle through the camera module when a synchronous instruction of the driving platform host is received, converting the image data into a serial signal, and sending the serial signal to the deserializer;
the analyzing module 20 is configured to analyze the serial signal through the deserializer to form first image data;
and the processing module 30 is configured to perform image processing and timestamp marking on the first image data, form image data with a timestamp, and send the image data with the timestamp to the driving platform host.
Furthermore, the present invention also provides a medium, which is a computer-readable storage medium, on which an image processing program is stored, the image processing program, when executed by a processor, implementing the steps of the image processing method as described above.
The method implemented when the image processing program running on the processor is executed may refer to each embodiment of the image processing method of the present invention, and details are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An image processing method is applied to a vehicle-mounted camera device of a vehicle-mounted system, the vehicle-mounted camera device comprises at least one camera module and a deserializer, and the image processing method comprises the following steps:
when a synchronous instruction of a driving platform host is received, acquiring image data around a vehicle through the camera module, converting the image data into a serial signal, and sending the serial signal to the deserializer;
analyzing the serial signal through the deserializer to form first image data;
and performing image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host.
2. The image processing method of claim 1, wherein the step of parsing the serial signal by the deserializer to form first image data comprises:
and analyzing the serial signal through the deserializer according to a preset interface standard to form first image data which accords with the preset interface standard.
3. The image processing method of claim 1, wherein the image processing and time stamping the first image data to form time stamped image data comprises:
and carrying out image processing on the first image data according to a preset image processing algorithm, and marking a time stamp on the result of the image processing to form image data carrying the time stamp.
4. The image processing method according to claim 1, wherein the vehicle-mounted camera device further comprises a vehicle-mounted ethernet, and the step of sending the image data with the time stamp to the driving platform host comprises:
and sending the image data with the timestamp to a vehicle-mounted Ethernet, and sending the image data with the timestamp to a driving platform host through the vehicle-mounted Ethernet.
5. The image processing method according to claim 1, wherein before the step of acquiring image data around the vehicle by the camera module when the synchronization instruction of the driving platform host is received, the image processing method further comprises:
and connecting the camera module with the deserializer through coaxial line connection or twisted pair connection.
6. The image processing method according to claim 1, wherein before the step of acquiring image data around the vehicle by the camera module when the synchronization instruction of the driving platform host is received, the image processing method further comprises:
and connecting the deserializer with a processor of the vehicle-mounted camera device through an interface, wherein the interface connection mode comprises one or more of MIPI interface connection, I2C interface connection and GPI0 communication interface connection.
7. An image processing method is applied to a driving platform host of a vehicle-mounted system, and is characterized by comprising the following steps:
sending a synchronization instruction to a vehicle-mounted camera device so that the vehicle-mounted camera device can acquire image data around a vehicle and convert the image data into a serial signal, sending the serial signal to a deserializer of the vehicle-mounted camera device, analyzing the serial signal through the deserializer to form first image data, and performing image processing and timestamp marking on the first image data to form image data with a timestamp;
and receiving the image data with the time stamp sent by the vehicle-mounted camera device, carrying out image fusion on the image data with the time stamp, and determining image display data.
8. An in-vehicle system, characterized in that the in-vehicle system comprises:
the driving platform host is used for sending a synchronization instruction to the vehicle-mounted camera device;
the vehicle-mounted camera device is used for acquiring image data around a vehicle through the camera module when a synchronous instruction of the driving platform host is received, converting the image data into a serial signal and sending the serial signal to the deserializer;
the vehicle-mounted camera device is used for analyzing the serial signals through the deserializer to form first image data;
the vehicle-mounted camera device is used for carrying out image processing and time stamping on the first image data to form image data with time stamps, and sending the image data with the time stamps to the driving platform host;
and the driving platform host is used for carrying out image fusion on the image data with the time stamp and determining image display data when receiving the image data with the time stamp sent by the vehicle-mounted camera device.
9. A vehicle, characterized in that the vehicle comprises: memory, a processor and an image processing program stored on the memory and executable on the processor, the image processing program, when executed by the processor, implementing the steps of the image processing method according to any one of claims 1 to 7.
10. A medium which is a computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an image processing program which, when executed by a processor, implements the steps of the image processing method according to any one of claims 1 to 7.
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