CN115695774A - Camera fault recovery method and device - Google Patents
Camera fault recovery method and device Download PDFInfo
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- CN115695774A CN115695774A CN202110837072.1A CN202110837072A CN115695774A CN 115695774 A CN115695774 A CN 115695774A CN 202110837072 A CN202110837072 A CN 202110837072A CN 115695774 A CN115695774 A CN 115695774A
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Abstract
The embodiment of the disclosure provides a camera fault recovery method and device. The method comprises the following steps: acquiring camera parameters of a target camera after the automatic driving device is started or in the running process of the automatic driving device; the target camera is a camera arranged on the automatic driving equipment; determining whether the target camera fails according to the camera parameters; under the condition that the target camera is determined to be in fault, acquiring a fault type corresponding to the target camera; and executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type. The embodiment of the disclosure can realize the detection and recovery of the image cutout problem of the automatic driving equipment in the operation process, and improve the fault recovery speed and efficiency of the automatic driving equipment.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of automatic driving, in particular to a camera fault recovery method and device.
Background
With the rapid development of science and technology, automatic driving equipment (such as unmanned delivery vehicles and the like) gradually appears in the visual field of people.
In practical application, the perception of the automatic driving equipment to the external environment depends on a camera sensor on the automatic driving equipment, a vehicle-mounted camera usually adopts a coaxial cable and a GMSL (multimedia messaging Link) transmission protocol, when the vehicle-mounted camera fails or a transmission Link fails, an automatic driving system cannot receive data streams of images, and further cannot acquire and perceive the images of the surrounding environment of the automatic driving equipment in real time, so that threats are easily caused to the automatic driving vehicle and the surrounding environment.
At present, when image data sent by an automatic driving device cannot be received by the automatic driving system, a fault message is transmitted through a vehicle cloud cooperation system, and then field or remote operators carry out overhaul or restart processing on the automatic driving device.
However, the above-mentioned manner of transmitting the fault message through the vehicle cloud cooperative system requires data stream detection, and the processes of device-side stream pushing, cloud-side stream receiving, and the like, are affected by system pressure, network congestion, signal interruption, and the like, and the time delay of fault reporting cannot be guaranteed. During this period, the autopilot device is in an unknown state and is very vulnerable to threats. Moreover, when a fault occurs, field personnel operate, huge labor cost is wasted, and when remote personnel operate, danger is easily caused because the field environment cannot be comprehensively sensed.
Disclosure of Invention
The embodiment of the disclosure provides a camera fault recovery method and device, which are used for detecting and recovering the image cutout problem in the operation process of automatic driving equipment and improving the fault recovery speed and efficiency of the automatic driving equipment.
According to a first aspect of embodiments of the present disclosure, there is provided a camera failure recovery method, including:
the method comprises the steps that after the automatic driving equipment is started or in the running process of the automatic driving equipment, camera parameters of a target camera are obtained; the target camera is a camera arranged on the automatic driving equipment;
determining whether the target camera fails according to the camera parameters;
under the condition that the target camera is determined to be in fault, acquiring a fault type corresponding to the target camera;
and executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type.
Optionally, the acquiring the camera parameters of the target camera includes:
acquiring a power supply voltage and a power supply current corresponding to the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera has not failed when the supply voltage is within a preset voltage range and the supply current is within a preset current range;
determining that the target camera is faulty if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
Optionally, the acquiring the camera parameters of the target camera includes:
acquiring a camera resolution corresponding to the target camera according to the image acquired by the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera is not malfunctioning if the camera resolution is the same as a fixed resolution of the target camera;
determining that the target camera is malfunctioning if the camera resolution is not the same as the fixed resolution.
Optionally, the acquiring the camera parameters of the target camera includes:
acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera has no fault when the camera frame rate is within a preset frame rate range;
and determining that the target camera fails when the camera frame rate is out of a preset frame rate range.
Optionally, the acquiring the camera parameters of the target camera includes:
acquiring a first number of data packets received by the target camera in a first period of time and a second number of data packets received by the target camera in a second period of time; the first time interval and the second time interval are two adjacent time intervals, and the second time interval is later than the first time interval;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera is not malfunctioning if the second number is greater than the first number;
determining that the target camera is malfunctioning if the second number is equal to the first number.
Optionally, the performing, based on the failure recovery policy corresponding to the failure type, a failure recovery operation on the target camera includes:
under the condition that the fault type is a connection fault type, sending fault information corresponding to the target camera to a service worker, so that the service worker can recover the fault of the target camera;
executing reset processing on a reset pin corresponding to the target camera under the condition that the fault type is a resolution fault type and/or a frame rate fault type;
and under the condition that the fault type is the data link fault type, performing initialization operation on the data link corresponding to the target camera.
According to a second aspect of embodiments of the present disclosure, there is provided a camera failure recovery apparatus including:
the camera parameter acquisition module is used for acquiring camera parameters of a target camera after the automatic driving equipment is started or in the running process of the automatic driving equipment; the target camera is a camera arranged on the automatic driving equipment;
the camera fault determining module is used for determining whether the target camera is in fault according to the camera parameters;
the fault type acquisition module is used for acquiring a fault type corresponding to the target camera under the condition that the target camera is determined to have a fault;
and the fault recovery execution module is used for executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type.
Optionally, the camera parameter acquiring module includes:
acquiring a power supply voltage and a power supply current corresponding to the target camera;
the camera failure determination module includes:
determining that the target camera is not in fault when the supply voltage is within a preset voltage range and the supply current is within a preset current range;
determining that the target camera is malfunctioning if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
Optionally, the camera parameter acquiring module includes:
the resolution acquisition unit is used for acquiring the camera resolution corresponding to the target camera according to the image acquired by the target camera;
the camera failure determination module includes:
a first failure determination unit configured to determine that the target camera has not failed in a case where the camera resolution is the same as a fixed resolution of the target camera;
a second failure determination unit configured to determine that the target camera has a failure if the camera resolution is different from the fixed resolution.
Optionally, the camera parameter acquiring module includes:
the camera frame rate acquisition unit is used for acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera;
the camera failure determination module includes:
a third failure determination unit, configured to determine that the target camera has not failed when the camera frame rate is within a preset frame rate range;
a fourth failure determination unit, configured to determine that the target camera fails when the camera frame rate is outside a preset frame rate range.
Optionally, the camera parameter acquiring module includes:
a data packet number acquisition unit, configured to acquire a first number of data packets received by the target camera in a first period and a second number of data packets received by the target camera in a second period; the first time period and the second time period are two adjacent time periods, and the second time period is later than the first time period;
the camera failure determination module includes:
a fifth failure determination unit configured to determine that the target camera has not failed if the second number is greater than the first number;
a sixth failure determination unit configured to determine that the target camera fails if the second number is equal to the first number.
Optionally, the failure recovery execution module includes:
the first fault recovery unit is used for sending fault information corresponding to the target camera to a service staff under the condition that the fault type is a connection fault type so as to carry out fault recovery on the target camera by the service staff;
a second failure recovery unit, configured to perform, when the failure type is a resolution failure type and/or a frame rate failure type, a reset process on a reset pin corresponding to the target camera;
and the third fault recovery unit is used for executing initialization operation on the data link corresponding to the target camera under the condition that the fault type is the data link fault type.
According to a third aspect of an embodiment of the present disclosure, there is provided an automatic driving apparatus including:
a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the camera failure recovery method of any of the above when executing the program.
According to a fourth aspect of embodiments of the present disclosure, there is provided a readable storage medium, wherein instructions, when executed by a processor of an electronic device, enable the electronic device to perform any one of the above-mentioned camera failure recovery methods.
The embodiment of the disclosure provides a camera fault recovery method and device, and the method comprises the steps of obtaining camera parameters of a target camera after an automatic driving device is started or in the operation process of the automatic driving device, determining whether the target camera is in fault or not according to the camera parameters, obtaining a fault type corresponding to the target camera under the condition that the target camera is in fault, and executing fault recovery operation on the target camera based on a fault recovery strategy corresponding to the fault type.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments of the present disclosure will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a method for recovering from a camera failure according to an embodiment of the present disclosure;
fig. 2 is a flowchart illustrating steps of another method for recovering from a camera failure according to an embodiment of the disclosure;
fig. 3 is a schematic structural diagram of a camera failure recovery apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of another camera failure recovery apparatus provided in an embodiment of the present disclosure.
Detailed Description
Technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present disclosure, belong to the protection scope of the embodiments of the present disclosure.
Example one
Referring to fig. 1, a flowchart illustrating steps of a camera failure recovery method provided by an embodiment of the present disclosure is shown, and as shown in fig. 1, the camera failure recovery method may specifically include the following steps:
step 101: the method comprises the steps that after the automatic driving equipment is started or in the running process of the automatic driving equipment, camera parameters of a target camera are obtained; the target camera is a camera disposed on the autonomous driving device.
The embodiment of the disclosure can be applied to fault detection and restoration of a camera arranged on the automatic driving device in a scene after the automatic driving device is started or in the running process of the automatic driving device.
In this example, an autonomous device is also an unmanned device. In practical applications, the autopilot device may be a vehicle traveling on the ground (such as an automobile, a truck, a bus, etc.), may also be a vehicle traveling in the air (such as an unmanned aerial vehicle, an airplane, a helicopter, etc.), and may also be a vehicle traveling on water (such as a ship, a submarine, etc.). In this example, the automatic driving device may be applied to the fields of delivery, express logistics, and the like, but is not limited thereto, and specifically, the automatic driving device may be determined according to business requirements, and this embodiment is not limited thereto.
In a specific implementation, the number of target cameras set on one autopilot device is usually multiple, and a target camera may be at least one of multiple cameras, specifically, the target camera may be set according to a business requirement, which is not limited in this embodiment.
The detection timing of the target camera provided on the autonomous driving apparatus may be detection performed after the autonomous driving apparatus is started, for example, after a system of the autonomous driving apparatus is started, a camera provided on the autonomous driving apparatus may be initialized by a Field-Programmable Gate Array (FPGA), and the initialization process is as follows: the method comprises the steps of initializing a GMSL1/2 link, a CMOS Sensor and an ISP (Image Signal Processing), and after initialization is finished, inputting a plurality of paths of images (namely images collected by a plurality of cameras) to an FPGA (field programmable gate array) through a plurality of MIPI CSI-2 interfaces for fault detection.
Of course, the detection timing of the target camera may also be fault detection performed during the operation of the automatic driving device, and in a specific implementation, a detection time interval may be preset, and fault detection may be performed on the target camera every other detection time interval.
The time for detecting the fault may be determined according to the service requirement, which is not limited in this embodiment.
The camera parameter refers to an acquired parameter for detecting whether the target camera has a fault, and in this example, the camera parameter may be at least one of parameters such as a power supply voltage, a power supply current, a camera resolution, a camera frame rate, and a number of camera received data packets.
After the autopilot device is started, or during operation of the autopilot device, camera parameters of the target camera may be acquired.
After the camera parameters of the target camera are acquired, step 102 is performed.
Step 102: and determining whether the target camera fails according to the camera parameters.
After the camera parameters of the target camera are acquired, whether the target camera fails or not may be determined according to the camera parameters of the target camera, and for the process, the following specific implementation manner may be described in detail.
In a specific implementation manner of the present disclosure, the step 101 may include:
substep A1: and acquiring a power supply voltage and a power supply current corresponding to the target camera.
IN this embodiment, when the camera parameters are parameters of a supply voltage and a supply current, the supply voltage and the supply current corresponding to the target camera may be obtained, specifically, the GMSL camera generally uses POC power supply, and after the automatic driving device is started or IN the running process, the supply voltage VN and the supply current IN of each camera may be read.
After the power supply voltage and the power supply current corresponding to the target camera are acquired, substep B1 is performed, or substep B2 is performed.
The step 102 may include:
substep B1: and under the condition that the power supply voltage is within a preset voltage range and the power supply current is within a preset current range, determining that the target camera has no fault.
Substep B2: determining that the target camera is malfunctioning if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
The preset voltage range refers to a voltage range preset by a service person and used for determining whether the target camera is abnormal in connection, and a numerical range of the preset voltage range may be determined according to a service requirement, which is not limited in this embodiment.
The preset current range refers to a current range preset by a service person and used for determining whether the target camera is abnormal in connection, and the numerical range of the preset current range may be determined according to a service requirement, which is not limited in this embodiment.
After the power supply voltage and the power supply current corresponding to the target camera are obtained, whether the power supply voltage is within a preset voltage range or not and whether the power supply current is within a preset current range or not can be judged.
In the case where the supply voltage is within the preset voltage range and the supply current is within the preset current range, it may be determined that the connection fault has not occurred in the target camera.
In the case where the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range, it may be determined that the connection failure of the target camera has occurred. For example, the standard values of the voltage and the current corresponding to the target camera are: VMIN, IMIN, VMAX and IMAX, wherein VN is not less than VMAX and IMIN is not less than IN and not more than IMAX. The connection state of the camera is judged to be normal, otherwise, the connection of the camera is possibly abnormal.
In another specific implementation manner of the present disclosure, the step 101 may include:
substep C1: and acquiring the camera resolution corresponding to the target camera according to the image acquired by the target camera.
In this embodiment, when the camera parameter is a resolution parameter, an image acquired by a target camera may be acquired, and a camera resolution corresponding to the target camera may be acquired according to the image acquired by the target camera, specifically, a line length of each frame of image may be obtained by detecting a packet length field L in each long packet of MIPI CSI-2, a number K of long packets between each two short packets is obtained by counting, a number of lines currently receiving each frame of image is obtained, and the camera resolution of the target camera is determined by combining the field L and the number K of long packets.
The step 102 may include:
substep D1: determining that the target camera is not malfunctioning if the camera resolution is the same as a fixed resolution of the target camera;
substep D2: determining that the target camera is malfunctioning if the camera resolution is not the same as the fixed resolution.
Fixed resolution refers to the resolution inherent to the subject camera.
After the camera resolution of the target camera is obtained, whether the camera resolution is the same as the fixed resolution or not can be judged, and if the camera resolution is the same as the fixed resolution, it is determined that the target camera does not fail. And if the camera resolution is different from the fixed resolution, determining that the target camera has a fault.
In another specific implementation manner of the present disclosure, the step 101 may include:
substep E1: and acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera.
In this embodiment, when the camera parameter is a parameter of the camera frame rate, after the automatic driving device is started, or during the operation of the automatic driving device, the image collected by the target camera may be obtained, and the camera frame rate corresponding to the target camera may be obtained according to the collected image, specifically, the number of lines KK of the image received per second may be regularly queried, so that the frame rate FPS = KK/N, where N is the number of lines of the resolution of the target camera.
And executing a substep F1 after acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera.
The step 102 may include:
substep F1: determining that the target camera has not failed when the camera frame rate is within a preset frame rate range;
substep F2: and determining that the target camera fails when the camera frame rate is out of a preset frame rate range.
The preset frame rate range refers to a range preset by a service person and used for determining whether a frame rate of a target camera is abnormal, and a specific numerical value of the preset frame rate range may be determined according to a service requirement, which is not limited in this embodiment.
After the camera frame rate corresponding to the target camera is acquired, whether the camera frame rate is within a preset frame rate range can be judged.
And if the camera frame rate is within the preset frame rate range, determining that the target camera has no fault of frame rate abnormity. If the camera frame rate is not within the preset frame rate range, the target camera can be determined to have a fault of abnormal frame rate.
In another specific implementation manner of the present disclosure, the step 101 may include:
substep G1: acquiring a first number of data packets received by the target camera in a first period of time and a second number of data packets received by the target camera in a second period of time; the first time period and the second time period are two adjacent time periods, and the second time period is later than the first time period.
In this embodiment, when the camera parameter is a parameter of the number of data packets received by the camera, a first number of data packets received by the target camera in a first period and a second number of data packets received by the target camera in a second period may be obtained, where the first period and the second period are two adjacent periods, and the second period is later than the first period.
The step 102 may include:
substep H1: determining that the target camera is not malfunctioning if the second number is greater than the first number.
Substep H2: determining that the target camera is malfunctioning if the second number is equal to the first number.
After the first number and the second number are obtained, a magnitude relationship between the first number and the second number may be compared.
In the case where the second number is greater than the first number, it may be determined that the target camera has not failed due to the data link abnormality. And in the case that the second number is equal to the first number, it can be determined that the target camera has failed due to the data link abnormality.
The above-mentioned several fault detection modes that this disclosed embodiment provided all can carry out the self-checking through autopilot equipment, need not artifical the detection, input that can greatly reduced human cost.
After determining that the target camera is malfunctioning based on the camera parameters, step 103 may be performed.
Step 103: and acquiring a fault type corresponding to the target camera under the condition that the target camera is determined to be in fault.
The failure type refers to a type of failure of the camera, and in this example, the failure type may include: at least one of a connection failure type, a resolution failure type, a frame rate failure type, and a data link failure type.
After determining that the target camera has a fault according to the camera parameters, acquiring a fault type corresponding to the target camera, for example, when the camera parameters are resolution parameters and the camera resolution is different from a fixed resolution, determining that the fault type of the target camera is a resolution fault type; and when the camera parameter is a quantity parameter of received data, in two adjacent time periods, if the quantity of the data packets received by the target camera is the same, it can be determined that the target camera has a fault, and the fault type of the fault is a connection link fault type and the like.
It should be understood that the above examples are only examples for better understanding of the technical solutions of the embodiments of the present disclosure, and are not intended to limit the present embodiments only.
After the fault type corresponding to the target camera is acquired, step 104 is executed.
Step 104: and executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type.
After the fault type corresponding to the target camera is acquired, a fault recovery operation may be performed on the target camera according to a fault recovery strategy corresponding to the fault type, for example, when the fault type of the target camera is a connection fault type, the connection abnormality belongs to a hardware fault and cannot be solved in a software manner. The recovery method is to upload the fault information to the cloud, and perform maintenance by a professional, and the like, and the specific fault recovery strategy will be described in detail in the following second embodiment, which is not described herein again.
The embodiment of the disclosure accurately positions the problem when the camera of the automatic driving equipment breaks down and completes the pertinence recovery at the data acquisition end, so that the speed is high, the efficiency is high, and the normal operation of the automatic driving equipment is not influenced.
According to the camera fault recovery method provided by the embodiment of the disclosure, after the automatic driving equipment is started or in the operation process of the automatic driving equipment, the camera parameters of the target camera are acquired, the target camera is a camera arranged on the automatic driving equipment, whether the target camera fails or not is determined according to the camera parameters, the fault type corresponding to the target camera is acquired under the condition that the target camera fails, and the fault recovery operation is executed on the target camera based on the fault recovery strategy corresponding to the fault type.
Example two
Referring to fig. 2, a flowchart illustrating steps of another camera failure recovery method provided in an embodiment of the present disclosure is shown, and as shown in fig. 2, the camera failure recovery method may specifically include the following steps:
step 201: acquiring camera parameters of a target camera after the automatic driving device is started or in the running process of the automatic driving device; the target camera is a camera disposed on the autonomous driving device.
The embodiment of the disclosure can be applied to fault detection and restoration of a camera arranged on the automatic driving device in a scene after the automatic driving device is started or in the running process of the automatic driving device.
In this example, an autonomous device is also an unmanned device. In practical applications, the automatic driving device may be a vehicle running on the ground (such as an automobile, a truck, a bus, etc.), may also be a vehicle running in the air (such as an unmanned aerial vehicle, an airplane, a helicopter, etc.), and may also be a vehicle running on water (such as a ship, a submarine, etc.). In this example, the automatic driving device may be applied to the fields of delivery, express logistics, and the like, but is not limited thereto, and specifically, the automatic driving device may be determined according to business requirements, and this embodiment is not limited thereto.
In a specific implementation, the number of target cameras set on one autopilot device is usually multiple, and a target camera may be at least one of multiple cameras, specifically, the target camera may be set according to a business requirement, which is not limited in this embodiment.
The detection timing of the target camera provided on the autopilot device may be detection performed after the autopilot device is started, for example, after a system of the autopilot device is started, the camera provided on the autopilot device may be initialized by a Field-Programmable Gate Array (FPGA), and the initialization process is: the method comprises the steps of initializing an MSL1/2 link, a CMOS Sensor and an ISP (Image Signal Processing), and after initialization is finished, inputting a plurality of paths of images (namely images collected by a plurality of cameras) to an FPGA (field programmable gate array) through a plurality of MIPI CSI-2 interfaces for fault detection.
Of course, the detection timing of the target camera may also be fault detection performed during the operation of the automatic driving device, and in a specific implementation, a detection time interval may be preset, and fault detection may be performed on the target camera every other detection time interval.
The timing of the fault detection may be determined according to the service requirement, which is not limited in this embodiment.
The camera parameter refers to an acquired parameter for detecting whether the target camera has a fault, and in this example, the camera parameter may be at least one of parameters such as a power supply voltage, a power supply current, a camera resolution, a camera frame rate, and a number of camera received data packets.
After the autopilot device is started, or during operation of the autopilot device, camera parameters of the target camera may be acquired.
After the camera parameters of the target camera are acquired, step 202 is performed.
Step 202: and determining whether the target camera fails according to the camera parameters.
After the camera parameters of the target camera are acquired, whether the target camera fails or not may be determined according to the camera parameters of the target camera, and for the process, the description in the first embodiment may be referred to, and details of the process are not repeated in this embodiment.
After determining that the target camera is out of order according to the camera parameters, step 203 is performed.
Step 203: and under the condition that the target camera is determined to be in fault, acquiring a fault type corresponding to the target camera.
The failure type refers to a type of failure of the camera, and in this example, the failure type may include: at least one of a connection failure type, a resolution failure type, a frame rate failure type, and a data link failure type.
After determining that the target camera has a fault according to the camera parameters, acquiring a fault type corresponding to the target camera, for example, when the camera parameters are resolution parameters and the camera resolution is different from a fixed resolution, determining that the fault type of the target camera is a resolution fault type; and when the camera parameter is a quantity parameter of received data, in two adjacent time periods, if the quantity of the data packets received by the target camera is the same, it can be determined that the target camera has a fault, and the fault type of the fault is a connection link fault type and the like.
It is to be understood that the above examples are only examples for better understanding of technical solutions of the embodiments of the present disclosure, and are not to be taken as the only limitation to the embodiments.
After the fault type corresponding to the target camera is acquired, step 204 is executed, and/or step 205 is executed, and/or step 206 is executed.
Step 204: and under the condition that the fault type is a connection fault type, sending fault information corresponding to the target camera to a service staff so that the service staff can perform fault recovery on the target camera.
When the failure type is a connection failure type, the connection failure is a hardware failure and cannot be solved in a software manner. The recovery mode is realized by uploading fault information to the cloud end and overhauling by professional personnel.
Step 205: and executing reset processing on a reset pin corresponding to the target camera under the condition that the fault type is a resolution fault type and/or a frame rate fault type.
And under the condition that the fault type is a resolution fault type and/or a frame rate fault type, resetting can be performed on a reset pin corresponding to the target camera, and specifically, the FPGA performs pull-down resetting on the reset pin of the CMOS Sensor and the ISP chip through a reverse channel of GMSL 1/2.
Step 206: and under the condition that the fault type is the data link fault type, performing initialization operation on the data link corresponding to the target camera.
And when the fault type is the data link fault type, initializing the data link corresponding to the target camera, specifically, controlling a switch of a POC (push-to-talk over cellular) channel by the FPGA through the I2C, performing power-off and power-on initialization on the camera and the GMSL1/2 full link, and re-linking the data link.
The camera data stream fault detection and recovery method provided by the embodiment of the disclosure accurately positions the problem when the camera data stream of the automatic driving system fails and completes targeted recovery at the data acquisition end, is high in speed and efficiency, does not affect the normal operation of the automatic driving system, and can complete self-recovery without manual intervention except for hardware failure when the camera data stream fails. Saving manpower and time costs.
According to the camera fault recovery method provided by the embodiment of the disclosure, after the automatic driving equipment is started or in the operation process of the automatic driving equipment, the camera parameters of the target camera are acquired, the target camera is a camera arranged on the automatic driving equipment, whether the target camera fails or not is determined according to the camera parameters, the fault type corresponding to the target camera is acquired under the condition that the target camera fails, and the fault recovery operation is executed on the target camera based on the fault recovery strategy corresponding to the fault type.
EXAMPLE III
Referring to fig. 3, a schematic structural diagram of a camera failure recovery apparatus provided in an embodiment of the present disclosure is shown, and as shown in fig. 3, the camera failure recovery apparatus 300 may specifically include the following modules:
a camera parameter acquiring module 310, configured to acquire a camera parameter of a target camera after an automatic driving device is started or during an operation process of the automatic driving device; the target camera is a camera arranged on the automatic driving equipment;
a camera failure determination module 320, configured to determine whether the target camera fails according to the camera parameters;
a fault type obtaining module 330, configured to obtain a fault type corresponding to the target camera when it is determined that the target camera has a fault;
and the failure recovery executing module 340 is configured to execute a failure recovery operation on the target camera based on the failure recovery policy corresponding to the failure type.
According to the camera fault recovery device provided by the embodiment of the disclosure, after the automatic driving equipment is started or in the operation process of the automatic driving equipment, the camera parameters of the target camera are acquired, the target camera is a camera arranged on the automatic driving equipment, whether the target camera is in fault or not is determined according to the camera parameters, the fault type corresponding to the target camera is acquired under the condition that the target camera is in fault, and the fault recovery operation is executed on the target camera based on the fault recovery strategy corresponding to the fault type.
Example four
Referring to fig. 4, a schematic structural diagram of another camera failure recovery apparatus provided in an embodiment of the present disclosure is shown, and as shown in fig. 4, the camera failure recovery apparatus 400 may specifically include the following modules:
a camera parameter acquiring module 410, configured to acquire a camera parameter of a target camera after an automatic driving device is started or during an operation process of the automatic driving device; the target camera is a camera arranged on the automatic driving equipment;
a camera failure determination module 420, configured to determine whether the target camera fails according to the camera parameters;
a fault type obtaining module 430, configured to obtain a fault type corresponding to the target camera when it is determined that the target camera has a fault;
and a failure recovery execution module 440, configured to execute a failure recovery operation on the target camera based on the failure recovery policy corresponding to the failure type.
Optionally, the camera parameter acquiring module 410 includes:
acquiring a power supply voltage and a power supply current corresponding to the target camera;
the camera failure determination module 420 includes:
determining that the target camera is not in fault when the supply voltage is within a preset voltage range and the supply current is within a preset current range;
determining that the target camera is malfunctioning if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
Optionally, the camera parameter acquiring module 410 includes:
the resolution acquisition unit is used for acquiring the camera resolution corresponding to the target camera according to the image acquired by the target camera;
the camera failure determination module 420 includes:
a first failure determination unit configured to determine that the target camera has not failed in a case where the camera resolution is the same as a fixed resolution of the target camera;
a second failure determination unit configured to determine that the target camera has a failure if the camera resolution is different from the fixed resolution.
Optionally, the camera parameter acquiring module 410 includes:
the camera frame rate acquisition unit is used for acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera;
the camera failure determination module 420 includes:
a third failure determination unit, configured to determine that the target camera has not failed when the camera frame rate is within a preset frame rate range;
a fourth failure determination unit, configured to determine that the target camera fails when the camera frame rate is outside a preset frame rate range.
Optionally, the camera parameter acquiring module 410 includes:
a data packet number acquisition unit, configured to acquire a first number of data packets received by the target camera in a first period and a second number of data packets received by the target camera in a second period; the first time interval and the second time interval are two adjacent time intervals, and the second time interval is later than the first time interval;
the camera failure determination module 420 includes:
a fifth failure determination unit configured to determine that the target camera has not failed if the second number is greater than the first number;
a sixth failure determination unit configured to determine that the target camera has failed, if the second number is equal to the first number.
Optionally, the failure recovery execution module 440 includes:
a first failure recovery unit 441, configured to, when the failure type is a connection failure type, send failure information corresponding to the target camera to a service staff, so that the service staff performs failure recovery on the target camera;
a second failure recovery unit 442, configured to perform, if the failure type is a resolution failure type and/or a frame rate failure type, a reset process on a reset pin corresponding to the target camera;
a third failure recovery unit 443, configured to, if the failure type is a data link failure type, perform an initialization operation on a data link corresponding to the target camera.
According to the camera fault recovery device provided by the embodiment of the disclosure, after the automatic driving equipment is started or in the operation process of the automatic driving equipment, the camera parameters of the target camera are acquired, the target camera is a camera arranged on the automatic driving equipment, whether the target camera is in fault or not is determined according to the camera parameters, the fault type corresponding to the target camera is acquired under the condition that the target camera is in fault, and the fault recovery operation is executed on the target camera based on the fault recovery strategy corresponding to the fault type.
An embodiment of the present disclosure also provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the camera failure recovery method of the foregoing embodiments when executing the program.
Embodiments of the present disclosure also provide a readable storage medium, where instructions, when executed by a processor of an electronic device, enable the electronic device to perform the camera failure recovery method of the foregoing embodiments.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present disclosure are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the embodiments of the present disclosure as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the embodiments of the present disclosure.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the disclosure may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the embodiments of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, claimed embodiments of the disclosure require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this disclosure.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
The various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be understood by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a motion picture generating device according to an embodiment of the present disclosure. Embodiments of the present disclosure may also be implemented as an apparatus or device program for performing a portion or all of the methods described herein. Such programs implementing embodiments of the present disclosure may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website, or provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit embodiments of the disclosure, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Embodiments of the disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present disclosure and is not to be construed as limiting the embodiments of the present disclosure, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the embodiments of the present disclosure are intended to be included within the scope of the embodiments of the present disclosure.
The above description is only a specific implementation of the embodiments of the present disclosure, but the scope of the embodiments of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the embodiments of the present disclosure, and all the changes or substitutions should be covered by the scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A camera failure recovery method, comprising:
acquiring camera parameters of a target camera after the automatic driving device is started or in the running process of the automatic driving device; the target camera is a camera arranged on the automatic driving equipment;
determining whether the target camera fails according to the camera parameters;
under the condition that the target camera is determined to be in fault, acquiring a fault type corresponding to the target camera;
and executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type.
2. The method of claim 1, wherein the obtaining camera parameters of the target camera comprises:
acquiring a power supply voltage and a power supply current corresponding to the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera is not in fault when the supply voltage is within a preset voltage range and the supply current is within a preset current range;
determining that the target camera is malfunctioning if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
3. The method of claim 1, wherein the obtaining camera parameters of the target camera comprises:
acquiring a camera resolution corresponding to the target camera according to the image acquired by the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera is not malfunctioning if the camera resolution is the same as a fixed resolution of the target camera;
determining that the target camera is malfunctioning if the camera resolution is not the same as the fixed resolution.
4. The method of claim 1, wherein the obtaining camera parameters of the target camera comprises:
acquiring a camera frame rate corresponding to the target camera according to the image acquired by the target camera;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera has not failed when the camera frame rate is within a preset frame rate range;
and determining that the target camera fails when the camera frame rate is out of a preset frame rate range.
5. The method of claim 1, wherein the obtaining camera parameters of the target camera comprises:
acquiring a first number of data packets received by the target camera in a first time period and a second number of data packets received by the target camera in a second time period; the first time interval and the second time interval are two adjacent time intervals, and the second time interval is later than the first time interval;
the determining whether the target camera fails according to the camera parameters includes:
determining that the target camera is not malfunctioning if the second number is greater than the first number;
determining that the target camera is malfunctioning if the second number is equal to the first number.
6. The method according to claim 1, wherein the performing a failure recovery operation on the target camera based on the failure recovery policy corresponding to the failure type includes:
under the condition that the fault type is a connection fault type, sending fault information corresponding to the target camera to a service worker, so that the service worker can recover the fault of the target camera;
executing reset processing on a reset pin corresponding to the target camera under the condition that the fault type is a resolution fault type and/or a frame rate fault type;
and under the condition that the fault type is the data link fault type, performing initialization operation on the data link corresponding to the target camera.
7. A camera failure recovery apparatus, comprising:
the camera parameter acquisition module is used for acquiring camera parameters of a target camera after the automatic driving equipment is started or in the running process of the automatic driving equipment; the target camera is a camera arranged on the automatic driving equipment;
the camera fault determining module is used for determining whether the target camera is in fault according to the camera parameters;
the fault type acquisition module is used for acquiring a fault type corresponding to the target camera under the condition that the target camera is determined to have a fault;
and the fault recovery execution module is used for executing fault recovery operation on the target camera based on the fault recovery strategy corresponding to the fault type.
8. The apparatus of claim 7, wherein the camera parameter acquisition module comprises:
acquiring a power supply voltage and a power supply current corresponding to the target camera;
the camera failure determination module includes:
determining that the target camera is not in fault when the supply voltage is within a preset voltage range and the supply current is within a preset current range;
determining that the target camera is malfunctioning if the supply voltage is outside the preset voltage range and/or the supply current is outside the preset current range.
9. An autopilot apparatus, comprising:
a processor, a memory and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the camera failure recovery method of any of claims 1 to 6.
10. A readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the camera failure recovery method of any of claims 1 to 6.
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| CN202110837072.1A CN115695774A (en) | 2021-07-23 | 2021-07-23 | Camera fault recovery method and device |
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| CN202110837072.1A CN115695774A (en) | 2021-07-23 | 2021-07-23 | Camera fault recovery method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117579811A (en) * | 2023-11-14 | 2024-02-20 | 镁佳(武汉)科技有限公司 | Vehicle camera fault detection and recovery method, system and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117579811A (en) * | 2023-11-14 | 2024-02-20 | 镁佳(武汉)科技有限公司 | Vehicle camera fault detection and recovery method, system and device |
| CN117579811B (en) * | 2023-11-14 | 2024-05-28 | 镁佳(武汉)科技有限公司 | Vehicle camera fault detection and recovery method, system and device |
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