CN116156114A

CN116156114A - Vehicle-mounted video shunt acquisition system and method

Info

Publication number: CN116156114A
Application number: CN202211676675.9A
Authority: CN
Inventors: 黄志文
Original assignee: Huizhou Desay SV Automotive Co Ltd
Current assignee: Huizhou Desay SV Automotive Co Ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-05-23

Abstract

The invention relates to the technical field of vehicle-mounted video shunt acquisition, in particular to a vehicle-mounted video shunt acquisition system and method. The automatic driving control system comprises a camera, a branching unit, an automatic driving control module and an acquisition module; the output end of the camera is in data connection with the input end of the splitter; the first output end of the splitter is in data connection with the input end of the automatic driving control module, and the second output end of the splitter is in data connection with the input end of the acquisition module; the MCU chip is respectively connected with the signal input end, the first output end and the second output end of the splitter through the synchronous serial bus; the automatic driving control module is provided with a first SOC chip, and the first SOC chip is communicated with the MCU chip through a synchronous serial bus and is used for sending an instruction for switching the working mode of the branching unit to the MCU chip. The invention is suitable for a plurality of different cameras and automatic driving control modules, and has large expansibility.

Description

Vehicle-mounted video shunt acquisition system and method

Technical Field

The invention relates to the technical field of vehicle-mounted video shunt acquisition, in particular to a vehicle-mounted video shunt acquisition system and method.

Background

In the technical field of automatic driving, a video is often used for shunt collection, 7-12 different cameras are often used for visual input on an automatic driving vehicle, and 3-5 cameras are usually used, for example, 1 camera is used for looking around, one camera is used for looking ahead, one camera is used for looking back, and driving software of each camera is different. Because the automatic driving working scene is complex and various, a set of acquisition system is needed by many enterprises in the development process to store video stream data in the automatic driving process, so that developers have enough video data to analyze problems and optimize algorithms.

The video data acquisition process needs to divide the video data of the camera into two parts, one part is processed by the automatic driving control module, the other part is stored by the acquisition module, and the video data input to the acquisition module and the video data input to the automatic driving control module are required to be kept the same, and cannot be delayed. In the prior art, when various cameras are connected with different autopilot control modules in an adapting way to transmit data, the autopilot control modules are required to re-develop camera driving software to adapt to the data, so that the requirements of different clients or different cameras cannot be met, and the expansibility is insufficient.

Disclosure of Invention

The invention provides a vehicle-mounted video shunt acquisition system and a vehicle-mounted video shunt acquisition method, which aim to solve the problem of insufficient expansibility of a video shunt acquisition scheme in the background art.

In order to solve the technical problems, the technical scheme of the invention is as follows:

in a first aspect, the invention provides a vehicle-mounted video shunt acquisition system, which comprises a camera, a shunt, an automatic driving control module and an acquisition module for storing and analyzing video data;

the output end of the camera is in data connection with the input end of the splitter and is used for transmitting video data to the splitter;

the splitter is provided with an MCU chip, a first output end of the splitter is in data connection with an input end of the automatic driving control module, a second output end of the splitter is in data connection with an input end of the acquisition module, and the splitter is used for dividing received video data into two identical video data and transmitting the two identical data to the automatic driving control module and the acquisition module respectively; the MCU chip is respectively connected with the signal input end, the first output end and the second output end of the splitter through the synchronous serial bus and is used for carrying out initialization configuration and switching working modes on the splitter;

the automatic driving control module is provided with a first SOC chip, and the first SOC chip is communicated with the MCU chip through a synchronous serial bus and is used for sending an instruction for switching the working mode of the splitter to the MCU chip.

Preferably, the working modes of the splitter at least comprise a video stream mode, a data stream mode and a sleep mode.

Preferably, the camera is provided with a first serializer, the splitter is provided with a first deserializer, and the first serializer is connected with the first deserializer through a GMSL communication protocol; the MCU chip is in data connection with the first deserializer through a synchronous serial bus.

Preferably, the camera is further provided with a sensor, which is in data connection with the first serializer via MIPI communication protocol.

Preferably, the splitter is further provided with a second serializer and a third serializer, the autopilot control module is provided with a second deserializer, the acquisition module is provided with a third deserializer, and the second serializer is connected with the second deserializer through a GMSL communication protocol; the third serializer is connected with the third deserializer through a GMSL communication protocol; the first deserializer is respectively connected with the second serializer and the third serializer through MIPI communication protocol; the MCU chip is respectively connected with the second serializer and the third serializer through synchronous serial buses; the first SOC chip is in data connection with the second deserializer through a synchronous serial bus.

Preferably, the acquisition module is provided with a second SOC chip, which is in data connection with the third deserializer.

Preferably, the system is further provided with a vehicle body CAN bus, and the MCU chip is in data connection with the automatic driving control module through the vehicle body CAN bus.

In a second aspect, the present invention provides a vehicle-mounted video shunt acquisition method, which is applied to the vehicle-mounted video shunt acquisition system as claimed in any one of claims 1 to 8, and includes:

s1, an MCU chip in the splitter is self-checked to start and initialize the splitter, so that the splitter is respectively connected with a camera, an automatic driving control module and an acquisition module through a GMSL communication protocol;

s2, the automatic driving controller normally operates the camera drive through the branching unit;

s3, the camera sends the acquired data information to the splitter through a GMSL communication protocol;

s4, the splitter copies the data information transmitted by the camera into two parts and transmits the two parts to the automatic driving control module and the acquisition module respectively through communication protocols.

Preferably, the splitter copies the data information transmitted by the camera into two parts and transmits the two parts to the automatic driving control module and the acquisition module respectively through communication protocols, and the automatic driving control module and the acquisition module respectively comprise:

the splitter copies the data information transmitted by the camera into two parts, the two parts are respectively transmitted to the automatic driving control module and the acquisition module through communication protocols, and error information are transmitted to the automatic driving control module through a vehicle body CAN bus.

Preferably, the splitter and the autopilot control module are connected to the same power source.

The beneficial effects are that:

the invention adopts the branching unit to divide the video data of the camera into two parts and transmits the two parts to the automatic driving control module for processing and the acquisition module for storage. The MCU chip on the branching unit is used for developing software, and then the branching unit is directly connected between the automatic driving control module and the cameras, so that the branching unit can be used for adapting to cameras of different styles and different automatic driving control modules, and the expansibility is high.

Drawings

Fig. 1 is a first schematic structural diagram of a vehicle-mounted video shunt acquisition system provided by the invention.

Fig. 2 is a schematic structural diagram of a splitter according to the present invention.

Fig. 3 is a schematic structural diagram of an autopilot control module provided by the present invention.

Fig. 4 is a second schematic structural diagram of the vehicle-mounted video shunt acquisition system provided by the invention.

Fig. 5 is a flowchart of an implementation of the method for collecting the vehicle-mounted video shunt.

Wherein: camera 10, splitter 20, autopilot control module 30, collection module 40.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", etc., based on the orientation or positional relationship shown in the drawings, this is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in the specific orientation, so that the words describing the positional relationship in the drawings are merely for illustration and are not to be construed as limiting the present patent.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are primarily for distinguishing between different devices, elements, or components (the particular categories and configurations may be the same or different) and are not intended to indicate or imply relative importance or quantity of the devices, elements, or components indicated, but are not to be construed as indicating or implying relative importance.

Example 1

As shown in fig. 1, the present embodiment provides a vehicle-mounted video shunt acquisition system, which includes a camera 10, a shunt 20, an autopilot control module 30, and an acquisition module 40.

In this embodiment, the output of the camera 10 is in data connection with the input of the splitter 20. The camera 10 is used for sensing visual information around, in front of and behind the vehicle and transmitting video data to the splitter 20.

The splitter 20 is internally provided with an MCU chip 21, a signal input end of the splitter 20 is in data connection with an output end of the camera 10, a first output end of the splitter 20 is in data connection with an input end of the autopilot control module 30, and a second output end of the splitter 20 is in data connection with an input end of the acquisition module 40. The splitter 20 is mainly used for splitting received video data into two identical pieces of video data, and for respectively using the two identical pieces of data for the autopilot control module 30 and the acquisition module 40.

The MCU chip 21 is connected to the signal input end, the first output end and the second output end of the splitter 20 through an I2C bus (Inter-Integrated Circuit, synchronous serial bus) respectively, and is used for controlling the power-on actions of the signal input end, the first output end and the second output end of the splitter to switch the working modes of the splitter.

In this embodiment, the operation modes of the splitter 20 may include:

video streaming mode: video data is continuously output.

Data stream mode: in the video streaming mode, there is a probability that the splitter 20 will configure the camera 10 with errors due to hops, and the data streaming mode can reduce the video output frame rate to ensure that the configuration is successful.

Sleep mode: the power is not lost, the function output is stopped, the configuration is reserved, and the next quick start is convenient.

The autopilot control module 30 is provided with a first SOC Chip 31 (System on Chip), and the first SOC Chip 31 is in data connection with the MCU Chip 21 through an I2C bus. The first SOC chip 31 is configured to send an instruction to the MCU chip 21 to cause the MCU chip to switch the operation mode of the splitter 20.

In this embodiment, the model of the MCU chip 21 is RH850F1L. The first SOC chip 31 may have a plurality of models, and in this embodiment, the model of the first SOC chip 31 may be set to Orin X.

In some preferred embodiments, the camera 10 may further be provided with a sensor 11 and a first serializer 12, the splitter 20 may further be provided with a first deserializer 22, a second serializer 23 and a third serializer 24, the autopilot control module 30 may further be provided with a second deserializer 32, and the acquisition module 40 may further be provided with a third deserializer 42.

The sensor 11 on the camera 10 is in data connection with the first serializer 12 via MIPI communication protocol, and the first serializer 12 is in data connection with the first deserializer 22 on the splitter via GMSL communication protocol. The first deserializer 22 on the splitter is in data connection with the second serializer 23 and the third serializer 24 respectively through MIPI communication protocol, the second serializer 23 is in data connection with the second deserializer 32 on the autopilot control module 30 through GMSL communication protocol, and the third serializer 24 is in data connection with the third deserializer 42 on the acquisition module 40 through GMSL communication protocol.

As shown in fig. 2, the MCU chip 21 is also connected with the first deserializer 22, the second serializer 23, and the third serializer 24 through the I2C bus, respectively.

As shown in fig. 3, the first SOC chip 31 is also data-connected to the second deserializer 32 via an I2C bus.

The first serializer 12, the second serializer 23, the third serializer 24, the first deserializer 22, the second deserializer 32, and the third deserializer 42 are interface circuits in high-speed data communication, and are connected by a protocol for the purpose of transmitting video data stably, at high speed, over a long distance.

The acquisition module 40 may also be provided with a second SOC chip 41, the second SOC chip 41 being data-connected to a third deserializer 42 via a synchronous serial bus. The acquisition module 40 is used for storing the video data transmitted by the splitter 20, so that later-stage staff can conveniently analyze and process the video data. The second SOC chip 41 is a processing chip of the collecting module 40, and may be identical to the first SOC chip in type number to be Orin X.

Through the above-mentioned structural connection, the working principle of this embodiment may be: after power-up, the MCU chip 21 on the splitter 20 is self-checked and started, and the first deserializer 22, the second serializer 23 and the third serializer 24 on the splitter 20 are configured according to the configuration of the automatic driving control module 30 for lighting the camera 10, and after the splitter 20 is started up, the camera 10 is automatically lighted after the splitter 20 is started up in 1S because the splitter 20 operates as a lightweight system. The video data is output to the splitter 20, the splitter 20 passes through the data of the camera 10 and is divided into two parts to the automatic driving control module 30 and the acquisition module 40, further, the automatic driving control module 30 processes the video data, and the acquisition module 40 stores the video data. In the configuration device, the working mode of the splitter 20 can be increased by developing software on the MCU chip 21 to adapt to a plurality of different types of cameras 10 and a plurality of different autopilot control modules 30.

Example two

On the basis of the first embodiment, the difference point of this embodiment is that:

as shown in fig. 4, the system of the embodiment is further provided with a car body CAN bus, and the MCU chip 21 CAN be further connected with the autopilot control module 30 through the car body CAN bus, so that the MCU chip 21 CAN report the error condition of the splitter 20 to the autopilot control module 30 or the onboard host, and receive and process some needed car body information.

Through the above-mentioned structural connection, the working principle of this embodiment may be: after power-up, the MCU chip 21 on the splitter 20 is self-checked and started, and the first deserializer 22, the second serializer 23 and the third serializer 24 on the splitter 20 are configured according to the configuration of the automatic driving control module 30 for lighting the camera 10, and after the splitter 20 is started up, the camera 10 is automatically lighted after the splitter 20 is started up in 1S because the splitter 20 operates as a lightweight system. The video data is output to the splitter 20, the splitter 20 passes through the data of the camera 10 and is divided into two parts to the automatic driving control module 30 and the acquisition module 40, further, the automatic driving control module 30 processes the video data, and the acquisition module 40 stores the video data. During the period that the splitter 20 is transmitting the data of the camera 10 and is divided into two to the autopilot control module 30 and the acquisition module 40, the MCU chip 21 can report the error condition of the splitter 20 to the autopilot control module 30, and can also receive the command of the autopilot control module 30 to change the splitter mode.

Embodiment III:

the embodiment provides a vehicle-mounted video shunt acquisition method, which is applied to a vehicle-mounted video shunt acquisition system as in the first embodiment or the second embodiment.

Referring to fig. 5, a flowchart of an implementation of the method for acquiring a shunt of a vehicle-mounted video of the present embodiment is shown.

As shown in fig. 5, the method includes:

s1, the MCU chip in the splitter is self-checked to start and initialize the splitter, so that the splitter is respectively in data connection with the camera, the automatic driving control module and the acquisition module through a GMSL communication protocol.

S2, the automatic driving controller normally operates the camera to drive through the splitter.

S3, the camera sends the collected data information to the splitter through a GMSL communication protocol.

In this embodiment, the splitter 20 and the autopilot control module 30 are connected to the same power source.

Under the two conditions that the automatic driving control module 30 is connected with the splitter 20 and the camera 10 is directly connected, the video data of the camera 10 received by the automatic driving control module 30 are the same, vision-related software is not required to be modified, the automatic driving and the data acquisition of the camera 10 can be implemented by connecting the splitter 20, and the fact that the vision-related software of the automatic driving control module 30 and the camera 10 in the acquisition process are completely the same as those of an actual product vehicle is ensured.

The position of the camera 10 on the acquisition vehicle and the position of the automatic driving control module 30 are not changed at all, the position of the acquisition module 40 on the vehicle is not required, no position change is carried out on the original vehicle, and the data acquisition of the camera 10 can be realized by adding a set of splitter 20 and the acquisition module 40.

During the acquisition process, the same video data of the camera 10 processed by the autopilot control module 30 is also stored in the acquisition module 40. The autopilot developer can analyze the abnormal situation in the process of automatic driving of the vehicle according to the video stored by the acquisition module 40 and the related log file on the autopilot control module 30, and provide enough data of the camera 10 for the autopilot developer to develop the algorithm related to the autopilot vision. The video stored by the acquisition module 40 can also be used for abnormality analysis of other sensor algorithms in the automatic driving process.

While the invention has been described in conjunction with the specific embodiments above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, all such alternatives, modifications, and variations are included within the spirit and scope of the following claims. The above examples of the present invention are only examples for clearly illustrating the present invention, and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. The vehicle-mounted video shunt acquisition system is characterized by comprising a camera, a shunt, an automatic driving control module and an acquisition module for storing and analyzing video data;

2. The vehicle-mounted video shunt acquisition system according to claim 1, wherein the operation modes of the shunt at least comprise a video stream mode, a data stream mode, and a sleep mode.

3. The vehicle-mounted video branching acquisition system according to claim 1, wherein the camera is provided with a first serializer, the branching unit is provided with a first deserializer, and the first serializer is connected with the first deserializer through a GMSL communication protocol; the MCU chip is in data connection with the first deserializer through a synchronous serial bus.

4. The on-board video shunt acquisition system of claim 3, wherein the camera is further provided with a sensor in data connection with the first serializer via MIPI communication protocol.

5. The on-vehicle video shunt acquisition system according to claim 3, wherein the shunt is further provided with a second serializer and a third serializer, the autopilot control module is provided with a second deserializer, the acquisition module is provided with a third deserializer, and the second serializer is connected with the second deserializer through a GMSL communication protocol; the third serializer is connected with the third deserializer through a GMSL communication protocol; the first deserializer is respectively connected with the second serializer and the third serializer through MIPI communication protocol; the MCU chip is respectively connected with the second serializer and the third serializer through synchronous serial buses; the first SOC chip is in data connection with the second deserializer through a synchronous serial bus.

6. The on-board video shunt acquisition system according to claim 3, wherein the acquisition module is provided with a second SOC chip, and the second SOC chip is in data connection with the third deserializer.

7. The vehicle-mounted video shunt acquisition system according to claim 1, wherein the system is further provided with a vehicle body CAN bus, and the MCU chip is in data connection with the autopilot control module through the vehicle body CAN bus.

8. A vehicle-mounted video shunt acquisition method, characterized in that the method is applied to the vehicle-mounted video shunt acquisition system according to any one of claims 1 to 8, and comprises the following steps:

9. The method for collecting the vehicle-mounted video by-pass according to claim 8, wherein the by-pass device copies the data information transmitted by the camera into two parts and transmits the two parts to the automatic driving control module and the collecting module respectively through the communication protocol comprises:

10. The on-board video shunt collection method of claim 8, wherein the shunt and the autopilot control module are connected to the same power source.