KR101772929B1 - System for processing integrated images of the navigator and AVM camera on vehicle - Google Patents
System for processing integrated images of the navigator and AVM camera on vehicle Download PDFInfo
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- KR101772929B1 KR101772929B1 KR1020150140963A KR20150140963A KR101772929B1 KR 101772929 B1 KR101772929 B1 KR 101772929B1 KR 1020150140963 A KR1020150140963 A KR 1020150140963A KR 20150140963 A KR20150140963 A KR 20150140963A KR 101772929 B1 KR101772929 B1 KR 101772929B1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3647—Guidance involving output of stored or live camera images or video streams
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
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Abstract
The image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention may be applied to a multicore processor that clusters data received from a plurality of sensors installed in a vehicle and generates integrated data Core processor unit and control means for controlling each part of the vehicle on the basis of the integrated data generated by the multi-core processor unit, A communication channel unit (Inter Communication Channel Unit) for transmitting control data generated in the vehicle integrated control unit to the control means through a vehicle integrated control unit (Automotive ECU) in which logic is installed and a communication channel; Wherein the multicore processor unit displays at least one of a first image, which is a route guidance image of the navigator, and a second image, which is a peripheral image of the vehicle obtained from the AVM camera, or executes the navigator or AVM camera Wherein the first image and the second image are clustered according to an operation of a user input through a display unit that receives a user's operation for making a first image and a second image, .
Description
The present invention relates to an image integration process of a navigator and an AVM camera and an image integration processing system of an AVM camera. More particularly, the present invention relates to a navigation image guiding a vehicle's driving route and a top view mode And an AVM camera image integration processing system for the AVM camera.
Along with the development of electronic information communication technology and sensor technology, various technologies for the convenience and safe operation of the driver are applied to the vehicle.
A navigator for guiding a driving route and traffic information to a driver based on a GPS transceiver mounted on the vehicle is applied and further devices including audio and video functions of the vehicle using a display screen of a navigator . An apparatus in which the audio, video and navigator of a vehicle are integrated is called an AVN system.
Recently, a system has been adopted in which a vehicle peripheral image is photographed with a camera and displayed on a monitor installed in the vehicle, thereby assisting the driver in parking. In addition, a function of assisting the driver in parking the vehicle by displaying a parking space line or a parking guide line in the process of displaying the image of the rear camera installed on the rear side of the vehicle is mounted on the monitor. Furthermore, active research is being conducted on techniques for allowing parking even if the operation is not performed by a driver based on measured values measured by various sensors mounted on the vehicle.
On the other hand, an AVM (Around View Monitoring) camera is being applied as a means for photographing a video around the vehicle more effectively. The AVM camera can reduce the blind spot by installing a large number of cameras around the vehicle and showing the whole circumference image of the vehicle to the driver.
As described above, in recent years, various devices considering the convenience of the driver have been applied, and attempts to integrate various functions have been continuously performed.
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the conventional art, and it is an object of the present invention to provide a navigation system capable of integrating an image of a navigation system guiding a vehicle's driving route and an image of an AVM camera mounted on a vehicle, An image integration process of the navigator and the AVM camera, and an image integration processing system of the AVM camera.
In order to achieve the above object, according to an embodiment of the present invention, there is provided a navigation system including a navigator mounted for guiding a vehicle's driving route, and an AVM camera for photographing an image around the vehicle and displaying the image in a top view mode A video processing system of the present invention includes a multicore processor unit (not shown) for receiving data from a plurality of sensors installed in a vehicle, including the navigator and the AVM camera, and clustering the received data to generate integrated data for each clustering ) unit; A processor for generating control data for controlling at least one of control units for controlling each part of the vehicle on the basis of the integrated data generated by the multicore processor unit and controlling the generated control data to be transmitted to the control unit A vehicle integrated control unit (Automotive ECU) in which the above application logic is installed; A communication channel unit for transmitting data between the multicore processor unit and the vehicle integrated control unit via a communication channel and transmitting the control data generated by the integrated vehicle control unit to the control unit; The multi-core processor unit, the vehicle integrated control unit, and the communication channel unit are formed as separate chip sets on a single board so as to be installed in a specific area of the vehicle. Wherein the multicore processor unit displays at least one of a first image which is a route guidance image of the navigator and a second image which is a peripheral image of the vehicle obtained from the AVM camera, Wherein the first image and the second image are clustered according to an operation of a user input through a display unit that receives an operation of the first image and the second image so that the first image and the second image are converted into a video output format of the display unit by the image conversion unit Configuration can be made.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the display unit displays a main path including a starting point and a destination point through a navigator, A setting for a sub path including a recording start point and a recording end point may be input, and at least one sub path may exist on the main path.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, when the vehicle reaches the starting point of the sub path during traveling along the main path, To acquire the second image, and when the end point of the sub path is reached, the driving of the AVM camera is stopped.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multi-core processor unit integrates the first image and the second image and displays them through the display unit, 2 images can be displayed in a divided manner.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may perform load balancing for the first image and the second image, (load balancing) may be performed.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multicore processor unit constructs the second image by combining the images of the vehicles obtained from the AVM camera, The second image may be stored in a file format of the second image.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, when the second image is stored, the multicore processor unit selects one of the frames constituting the second image as a still- To the storage device.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may display the still image of the second image stored in the storage device, And a second image file of the still-cut image selected by the user is reproduced through the display unit.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the multicore processor unit may be configured to synchronize the respective data received from the plurality of sensors.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the plurality of sensors may include a radar, a lidar, an ultrasonic sensor, a navigation sensor, an accelerator level sensor, a steering sensor, and a gyroscope sensor, wherein the plurality of sensors include a plurality of sensors, The data received from the sensor may include distance data using at least one of the radar, the radar and the ultrasonic sensor, image data using the at least one camera and the navigator, velocity data of the vehicle using the wheel speed sensor, Acceleration data of the vehicle using the steering sensor, rotational speed of the steering wheel using the steering sensor, Rotation angle data, three-axis direction data of the vehicle using the gyroscope sensor, and GPS position data of the navigator.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multi-core processor unit is configured to determine the driving speed of the vehicle, the mode of the vehicle (Rear, Drive) An arrangement may be made to cluster the data based on one or more of the inputs.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the multicore processor unit monitors connection / non-connection with the plurality of sensors, the vehicle integration control unit, And may be configured to perform at least one of monitoring connection, debuggling and real-time upload of the algorithm for clustering, and debugging and logging data received from the plurality of sensors.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the vehicle integration control unit may synchronize the control data generated for each control means, Respectively.
In the image integration process of the navigator and the AVM camera and the image integration process system of the AVM camera according to an embodiment of the present invention, the vehicle integrated control unit may be configured to monitor whether or not the vehicle is connected to the control unit.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to an embodiment of the present invention, the control means includes power train domain control means including the power engine of the vehicle and the power transmission device, Chassis domain control means including brakes and steering devices, body domain control means including comfort and safety devices of the vehicle, and multimedia domain control means including telematics, route guidance, music and video Can be achieved.
In the image integration processing of the navigator and the AVM camera and the image integration processing system of the AVM camera according to the embodiment of the present invention, the communication channel unit is configured to perform at least one of real time debugging, logging and timing sink of the communication channel .
According to an embodiment of the present invention, a navigation system, which is a system for guiding a route of a vehicle, and processing of an AVM camera image for photographing the surroundings of the vehicle are integrally processed, thereby minimizing the operation of the driver, As the navigator image and the AVM camera image are integrated management, processing, and storage, the memory usage efficiency can be improved.
In addition, a recording interval is set through navigation when recording a peripheral image of a vehicle using an AVM camera, and unnecessary image recording is minimized by recording a surrounding image only in a corresponding recording interval, and the efficiency of a storage space for storing images is increased .
It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.
1 is a block diagram illustrating a configuration of an integrated data processing control system for an automobile according to an embodiment of the present invention.
2 is a view for explaining an image integration processing system according to an embodiment of the present invention;
3 is a flowchart illustrating a process of controlling an image integration processing system according to an embodiment of the present invention.
4 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to an embodiment of the present invention;
5 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to another embodiment of the present invention.
FIG. 6A is a view schematically showing a configuration of a multicore processor unit according to another embodiment of the present invention; FIG.
6B is a hierarchical diagram for implementing a configuration of a multicore processor unit according to another embodiment of the present invention;
7A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.
7B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention;
8A is a block diagram showing the configuration of a communication channel unit according to an embodiment of the present invention;
FIG. 8B is a layer diagram for implementing a configuration of a communication channel unit according to an embodiment of the present invention; FIG.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.
Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" .
Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1 is a block diagram showing a configuration of an integrated data processing control system for a vehicle according to an embodiment of the present invention.
The integrated data
Particularly, in the integrated data
The
For reference, the
Meanwhile, the
Here, the data (hereinafter, referred to as 'sensor data') received from the
In the integrated data
At this time, the
In one embodiment, when the vehicle speed is less than a certain speed (e.g., 5 km / h) and the transmission mode repeats R (reverse) and D (travel) Mode, and sensor data for parking among the data received from the
For reference, when the automatic parking mode is supported, if the driver's automatic parking mode button is selected, the
Here, the sensor data clustered for parking may include distance data and image data.
In addition, it may further include a rotation speed of the handle, a rotation direction, rotation angle data, and the like.
For example, the rotation speed, the rotation direction, the rotation angle data, and the like of the steering wheel can be utilized to display a proper traveling path of the vehicle at the time of parking on a monitor of an AVN (Audio, Visual and Navigation) system.
The
In addition, the
In addition, the
The
On the other hand, in the integrated data
In one embodiment, when the clustering integrated data-distance data, image data, etc., for automatic parking from the
Thereafter, the
At this time, the vehicle integrated
In addition, the vehicle integrated
On the other hand, the
In addition, the
The
On the other hand, the various control means 60 of the vehicle which can be controlled through the application logic installed in the above-described vehicle
The ECU, which is the control means of each of the above-described parts, can drive the corresponding part in accordance with the control command of the vehicle integrated
For reference, a powertrain domain may include a powerplant and a powertrain of a vehicle, the chassis domain may include a brake and a steering device of the vehicle, and the body domain may include a comfort and safety device of the vehicle have.
And, the multimedia domain may include a device for providing telematics, navigation (navigation), music and video.
2 is a diagram for explaining a heterogeneous image integration processing system according to an embodiment of the present invention.
The image integration process of the navigator and the AVM camera according to the embodiment of the present invention and the image integration process system of the AVM camera (which may be abbreviated as 'image integration processing system' for convenience of explanation)
In accordance with the control of the
Also, the
Wherein the user interface may be an integrated user interface including a user interface associated with the operation of the navigator and a user interface associated with the operation of the AVM camera on one screen.
For reference, the navigator can provide a route to a departure place and a destination set by the user (hereinafter referred to as a main route), display the position of the vehicle on the main route based on the position information of the vehicle, have.
The AVM camera may include a plurality of cameras installed at predetermined positions of the vehicle (for example, front bumper, rear bumper, left side, right side, etc.) It is possible to construct a vehicle periphery image such as looking down the vehicle from above.
The user can set the main path of the navigator through the
On the other hand, the
Meanwhile, the
For example, it is possible to control only the route guidance image of the navigator to be displayed through the
At this time, the
In addition, when the
At this time, the
For reference, one or more sub paths may be included in the main path, and the
At this time, the
In addition, the
At this time, the
In addition, the
For example, when recording of the surroundings of the vehicle using the AVM camera is started, the
For this, the
3 is a flowchart illustrating a process of controlling an image integration processing system according to an embodiment of the present invention.
The flowchart shown in FIG. 3 is a case of setting the main path and the sub path, and may be performed by the image
First, the image
After step S301, the image
After S302, the image
As a result of the determination, when the start point of the sub path has been reached, the image
At this time, the image
In addition, it is possible to store a vehicle periphery image such as a vehicle periphery view from above, as a single image file, and to store still image of the image file together.
After S304, the image
As a result of the determination, if the end point of the sub path has been reached, the image
At this time, the image
4 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to an embodiment of the present invention.
4 (a) is a screen for setting the main path using the navigator, and it is possible to set a starting point and a destination point.
4B is a screen for setting a sub-path, which is a section for photographing the periphery of the vehicle under running using the AVM camera, and can set a recording start point and an end point of the vehicle surroundings image.
Here, the subpath may be a section where accidents occur frequently or may be a road congestion section.
4 (a) is selected, the screen can be switched to the screen of FIG. 4 (b). When the sub-path setting is completed, the mode switching button 420 for returning to the main path shown in FIG.
5 is a view illustrating a screen displayed through an in-vehicle display unit when controlling an image integration processing system according to another embodiment of the present invention.
5 (a) is a screen when the vehicle in running reaches the start point of the sub-path. It can be seen that the surrounding image of the vehicle obtained from the AVM camera and the route guidance image of the navigator are integrated and displayed on the screen have.
At this time, the image
In addition, the image
FIG. 5B is a screen when the vehicle in running reaches the end point of the sub-path. In FIG. 5A, only the main path of the navigator is displayed on the screen.
FIG. 6A is a view illustrating a configuration of a multicore processor unit according to another embodiment of the present invention.
The
The
Meanwhile, the
Here, the clustering of the sensor data may be performed based on at least one of the running speed of the vehicle, the transmission mode, and the driver's input.
For reference, the
The
In addition, the
Meanwhile, the
The
6B is a layer diagram for implementing the configuration of a multicore processor unit according to another embodiment of the present invention.
The
7A is a diagram showing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.
The vehicle integrated
First, the
The vehicle integrated
On the other hand, the
Here, 'actively controlling' means that not only the received data is converted into a control command and transmitted, but the current driving state is grasped on the basis of the received data, and the control means of each part is efficiently controlled Lt; RTI ID = 0.0 > control data. ≪ / RTI >
Also, the
In addition, the
Meanwhile, the
The
7B is a hierarchical diagram for implementing a configuration of a vehicle integrated control unit according to an embodiment of the present invention.
The vehicle integrated
8A is a block diagram illustrating a configuration of a communication channel unit according to an embodiment of the present invention.
The
First, the
The
Further, the
Meanwhile, the
On the other hand, the communication unit 44 can transmit the control data of the vehicle integrated
8B is a layer diagram for implementing the configuration of a communication channel unit according to an embodiment of the present invention.
The
It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be.
It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.
For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.
The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.
10: Integrated data processing control system for automobile
20: Multicore processor unit 21: Sensor interface
22: control unit 23: memory
24: communication unit 30: vehicle integrated control unit
31: internal interface 32:
33: memory 34:
40: communication channel unit 41: internal interface
42: control unit 43: memory
44: communication unit 50:
60: control means
100: image integration processing system 110: display unit
120: image conversion unit 130:
Claims (16)
A vehicle navigation system comprising: a main path for receiving data from a plurality of sensors installed in a vehicle and clustering the data to generate integrated data for each clustering, the main path including a starting point and a destination point, When a setting for one or more sub paths including a recording start point and an end point for ending the recording is inputted and the vehicle reaches the starting point of the sub path during traveling along the main path A multicore processor unit for clustering and integrating photographed images obtained through a plurality of camera sensors of the AVM camera to generate the second image;
And control means for controlling at least one of the control means for controlling each part of the vehicle based on the integrated data and controlling the generated control data to be transmitted to the control means according to a preset control sequence, When it is determined that the vehicle reaches the starting point of the sub-path along the main path using the position information obtained by the position information providing sensor among the plurality of sensors, the first control data Second control data for causing the display unit to display the generated second image and stopping the operation of the AVM camera when it is determined that the vehicle reaches the end point of the sub path using the position information, 3 control data, and the first control data and the third control data Data is the control means of the AVM in the camera, said second control data, the vehicle integrated control unit for controlling so that the transmission parts of the display that the control means (Automotive ECU); And
Core processor unit and the vehicle integrated control unit so that the integrated data and the control data are transferred between the multi-core processor unit and the vehicle integrated control unit through a communication channel And a communication channel unit (Inter Communication Channel Unit) for transmitting the control data generated by the vehicle integrated control unit to the control means. The image integration processing of the AVM camera and the image integration processing system of the AVM camera .
Wherein the multi-core processor unit clusters and integrates the first image and the second image together so that the first image and the second image are displayed together on the display unit, and the vehicle integrated control unit displays the integrated first image and the second image on the display unit Wherein the control unit generates a control command for dividing an area in which the first image and the second image are displayed and transmits the generated control command to the display unit to perform an image integration process of the navigator and the AVM camera, system.
Wherein the vehicle integration control unit performs load balancing for the first image and the second image according to a priority set by a user in advance, Image integrated processing system.
Wherein the multicore processor unit stores any one of the frames constituting the second image together with the still image when the second image is stored in the storage device, Camera integrated image processing system.
Wherein the vehicle integrated control unit generates control data for causing the display unit to display a still-cut image of a second image stored in the storage device in response to a user's request, and the second image file of the still- Wherein the control unit generates control data to be reproduced through the display unit and controls the generated control data to be transmitted to the display unit as the control unit. The image integration process of the navigator and the AVM camera, .
The multi-core processor unit includes:
And synchronizing the data received from the plurality of sensors with each other, wherein the navigator and the AVM camera perform image integration processing and the AVM camera image integration processing system.
Wherein the plurality of sensors comprise:
A radar, a lidar, an ultrasonic sensor, at least one camera, a stereo camera, an AVM camera, a navigator, a wheel speed sensor, an accelerator level sensor, A sensor, a steering sensor, and a gyroscope sensor,
Wherein the data received from the plurality of sensors comprises:
Distance data using at least one of the radar, the radar, and the ultrasonic sensor,
Image data using the at least one camera and the navigator,
Speed data of the vehicle using the wheel speed detecting sensor,
Acceleration data of the vehicle using the accelerator level detection sensor,
The rotational speed, the rotational direction, the rotational angle data of the steering wheel using the steering sensor,
3-axis direction data of the vehicle using the gyroscope sensor and
And the GPS position data of the navigator. The navigation system of claim 1, wherein the navigator includes at least one of GPS position data of the navigator and GPS position data of the navigator.
The multi-core processor unit includes:
Wherein the data is clustered based on at least one of a driving speed of the vehicle, a mode of a vehicle (Parking, Rear, Drive), and an input of a driver. The image integration processing of the navigator and the AVM camera, .
The multi-core processor unit includes:
Monitoring of connection with the plurality of sensors, monitoring of connection with the vehicle integrated control unit and communication channel unit, debugging and real-time uploading of the algorithm for clustering, debugging and logging of data received from the plurality of sensors logging, and an image integration process of an AVM camera and an image integration processing system of an AVM camera.
Wherein the vehicle integrated control unit synchronizes the control data generated for each control means, and the image integration processing of the AVM camera and the image integration processing system of the AVM camera.
The vehicle integrated control unit
Wherein the monitoring unit monitors whether the AVM camera is connected to the AVM camera or not.
Wherein,
A power domain control means including a power train of the vehicle and a power transmission device, chassis domain control means including a braking and steering device of the vehicle, body domain control means including a comfort device and a safety device of the vehicle, And multimedia domain control means including route guidance, music, and video. The integrated image processing system of the AVM camera and the image integration processing of the navigator and the AVM camera.
The communication channel unit
Wherein the controller performs at least one of real-time debugging, logging, and timing sink of the communication channel, and the image integration processing of the AVM camera and the image integration processing system of the AVM camera.
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EP4280013A4 (en) * | 2021-03-26 | 2024-09-18 | Huawei Tech Co Ltd | Controller system and control method |
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