CN116033265A - Camera sharing method, system, device and computer-readable storage medium - Google Patents
Camera sharing method, system, device and computer-readable storage mediumDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及车辆控制技术领域，尤其涉及一种摄像头共用方法、系统、设备及计算机可读存储介质。The present invention relates to the technical field of vehicle control, in particular to a camera sharing method, system, equipment and computer-readable storage medium.
背景技术Background technique
随着汽车产业的发展，车辆在自动驾驶方面也取得了长足的进步。在车辆的自动驾驶系统中通常会有多个传感器(如摄像头、毫米波雷达、激光雷达、定位设备、超声波雷达等)和多个ECU(Electronic Control Unit，电子控制单元)相互配合使用，实现外界环境的感知。而摄像头作为车辆的核心传感器之一，一个摄像头通常只向对应的控制器提供服务，摄像头难以被多个控制器共用，导致目前带有ADAS和自动驾驶功能的汽车，大多配备七、八个甚至十几个摄像头，提高了车辆的生产成本。As the automotive industry has grown, vehicles have also made great strides in autonomous driving. In the automatic driving system of a vehicle, there are usually multiple sensors (such as cameras, millimeter-wave radars, lidars, positioning devices, ultrasonic radars, etc.) perception of the environment. As one of the core sensors of the vehicle, the camera usually only provides services to the corresponding controller, and it is difficult for the camera to be shared by multiple controllers. As a result, most of the current cars with ADAS and automatic driving functions are equipped with seven, eight or even More than a dozen cameras increase the production cost of the vehicle.
发明内容Contents of the invention
本发明的主要目的在于提供一种摄像头共用方法，旨在解决摄像头难以被多个控制器共用，提高了车辆的生产成本的技术问题。The main purpose of the present invention is to provide a camera sharing method, aiming at solving the technical problem that the camera is difficult to be shared by multiple controllers, which increases the production cost of the vehicle.
为实现上述目的，本发明提供一种摄像头共用方法，应用于摄像头共用系统，所述摄像头共用系统包括摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接；In order to achieve the above object, the present invention provides a camera sharing method, which is applied to a camera sharing system. The camera sharing system includes a camera module and two or more controllers, and the camera module and each of the controllers are electrically sexual connection;
所述摄像头共用方法包括以下步骤：The camera sharing method includes the following steps:
所述摄像头模块采集图像数据；The camera module collects image data;
所述控制器中的目标控制器下发启用指令至所述摄像头模块；The target controller in the controller issues an enabling instruction to the camera module;
所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器。The camera module sends the image data to the target controller through the electrical connection between the camera module and the target controller in response to the enabling instruction.
可选地，所述摄像头模块与各所述控制器分别电性连接；Optionally, the camera module is electrically connected to each of the controllers;
所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤包括：The step of sending the image data to the target controller by the camera module through the electrical connection between the camera module and the target controller includes:
所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；The serial unit of the camera module serializes the image data, and sends the serialized image data to the deserialization unit of the target controller;
所述目标控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。The deserialization unit of the target controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the target controller.
可选地，各所述控制器包括第一控制器和第二控制器，其中所述第二控制器为一个或一个以上的控制器，所述摄像头模块与所述第一控制器电性连接，所述第一控制器与各所述第二控制器之间依次电性连接；Optionally, each of the controllers includes a first controller and a second controller, wherein the second controller is one or more controllers, and the camera module is electrically connected to the first controller , the first controller is electrically connected to each of the second controllers in sequence;
所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤，所述摄像头共用方法还包括：The camera module sends the image data to the target controller through the electrical connection between the camera module and the target controller, and the camera sharing method further includes:
当所述目标控制器为所述第一控制器时，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；When the target controller is the first controller, the serial unit of the camera module serializes the image data, and sends the serialized image data to the solution of the first controller. string unit;
所述第一控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的处理单元。The deserialization unit of the first controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the first controller.
可选地，所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤还包括：Optionally, the step of the camera module sending the image data to the target controller through the electrical connection between the camera module and the target controller further includes:
当所述目标控制器为所述第二控制器时，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；When the target controller is the second controller, the serial unit of the camera module serializes the image data, and sends the serialized image data to the solution of the first controller. string unit;
所述第一控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的串行单元；The deserialization unit of the first controller deserializes the serialized image data to obtain the image data, and sends the image data to the serial unit of the first controller;
所述第一控制器的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第二控制器的解串单元；The serial unit of the first controller serializes the image data, and sends the serialized image data to the deserialization unit of the second controller;
所述第二控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第二控制器的处理单元。The deserialization unit of the second controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the second controller.
可选地，所述摄像头模块与各所述控制器分别电性连接，且各所述控制器之间依次电性连接；Optionally, the camera module is electrically connected to each of the controllers, and each of the controllers is electrically connected to each other in turn;
所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤，所述摄像头共用方法还包括：The camera module sends the image data to the target controller through the electrical connection between the camera module and the target controller, and the camera sharing method further includes:
所述摄像头模块获取与所述目标控制器之间的电性连接的第一连接状态；The camera module obtains a first connection state of an electrical connection with the target controller;
当所述第一连接状态为故障连接时，所述摄像头模块以所述目标控制器为中心遍历与所述目标控制器相邻的相邻控制器，获取所述相邻控制器与所述摄像头模块之间的第二连接状态；When the first connection state is a faulty connection, the camera module traverses the adjacent controllers adjacent to the target controller with the target controller as the center, and obtains the connection between the adjacent controller and the camera. a second connection state between modules;
所述摄像头模块将所述第二连接状态为正常连接的相邻控制器中与所述目标控制器之间路径最短的相邻控制器作为中转控制器；The camera module uses the adjacent controller with the shortest path between the target controller and the target controller among the adjacent controllers whose second connection status is normal connection as a transit controller;
所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器。The camera module sends the image data to the target controller through the transit controller.
可选地，所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器的步骤包括：Optionally, the step of sending the image data to the target controller by the camera module through the transit controller includes:
所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述中转控制器的解串单元；The serial unit of the camera module serializes the image data, and sends the serialized image data to the deserialization unit of the transit controller;
所述中转控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述中转控制器的串行单元；The deserialization unit of the transfer controller deserializes the serialized image data to obtain the image data, and sends the image data to the serial unit of the transfer controller;
所述中转控制器的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；The serial unit of the transfer controller serializes the image data, and sends the serialized image data to the deserialization unit of the target controller;
所述目标控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。The deserialization unit of the target controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the target controller.
可选地，所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤，所述摄像头共用方法还包括：Optionally, the camera module sends the image data to the target controller through an electrical connection between the camera module and the target controller in response to the enabling instruction, and the camera Shared methods also include:
所述摄像头模块接收到两个或两个以上所述目标控制器下发的启用指令时，获取各所述目标控制器的优先级信息；When the camera module receives activation instructions issued by two or more target controllers, it acquires priority information of each target controller;
所述摄像头模块根据所述优先级信息确定发送次序，并按照所述发送次序，通过所述摄像头模块与各所述目标控制器之间的电性连接将所述图像数据发送至各所述目标控制器。The camera module determines a sending order according to the priority information, and according to the sending order, sends the image data to each of the targets through an electrical connection between the camera module and each of the target controllers controller.
此外，为实现上述目的，本发明还提供一种摄像头共用系统，所述摄像头共用系统包括：摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接；In addition, in order to achieve the above object, the present invention also provides a camera sharing system, the camera sharing system includes: a camera module and two or more than two controllers, the camera module is electrically connected to each of the controllers ;
所述摄像头模块，用于采集图像数据；The camera module is used to collect image data;
所述控制器，用于下发启用指令至所述摄像头模块；The controller is configured to issue an enabling instruction to the camera module;
所述摄像头模块，还用于响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器。The camera module is further configured to send the image data to the target controller through an electrical connection between the camera module and the target controller in response to the enabling instruction.
此外，为实现上述目的，本发明还提供一种摄像头共用设备，所述摄像头共用设备包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上所述的摄像头共用方法的步骤。In addition, in order to achieve the above object, the present invention also provides a camera sharing device, which includes: a memory, a processor, and a computer program stored in the memory and operable on the processor, the When the computer program is executed by the processor, the above-mentioned steps of the camera sharing method are implemented.
此外，为实现上述目的，本发明还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有摄像头共用程序，所述摄像头共用程序被处理器执行时实现如上所述的摄像头共用方法的步骤。In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium, on which a camera sharing program is stored, and when the camera sharing program is executed by a processor, the above-mentioned camera sharing is realized. method steps.
本发明提出的一种摄像头共用方法，应用于摄像头共用系统，所述摄像头共用系统包括摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接；本发明通过所述摄像头模块采集图像数据；所述控制器中的目标控制器下发启用指令至所述摄像头模块；所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器。本发明中由于所述摄像头模块与各所述控制器电性连接，因此，所述摄像头模块可以接收不同控制器的启用指令，并将所述图像数据传输至对应的控制器。本发明实现了多控制器对于摄像头的共用，从而可以减少布置位置相近或功能相似的摄像头的数量，减少车辆的生产成本。A camera sharing method proposed by the present invention is applied to a camera sharing system. The camera sharing system includes a camera module and two or more controllers, and the camera module is electrically connected to each of the controllers; the present invention The invention collects image data through the camera module; the target controller in the controller sends an activation command to the camera module; the camera module responds to the activation command, and controls the The image data is sent to the target controller through an electrical connection between the controllers. In the present invention, since the camera module is electrically connected to each of the controllers, the camera module can receive activation instructions from different controllers, and transmit the image data to the corresponding controller. The invention realizes the sharing of cameras by multiple controllers, thereby reducing the number of cameras with similar positions or similar functions, and reducing the production cost of the vehicle.
附图说明Description of drawings
图1为本发明摄像头共用方法第一实施例的流程示意图；Fig. 1 is a schematic flow chart of the first embodiment of the camera sharing method of the present invention;
图2为本发明摄像头共用方法一实施例的场景示意图；2 is a schematic diagram of a scene of an embodiment of the camera sharing method of the present invention;
图3为本发明摄像头共用方法另一实施例的场景示意图；FIG. 3 is a schematic diagram of a scene of another embodiment of the camera sharing method of the present invention;
图4为本发明摄像头共用方法第二实施例的流程示意图；FIG. 4 is a schematic flowchart of a second embodiment of the camera sharing method of the present invention;
图5为本发明摄像头共用方法第二实施例的场景示意图；5 is a schematic diagram of a scene of a second embodiment of the camera sharing method of the present invention;
图6为本发明摄像头共用方法第三实施例的流程示意图；6 is a schematic flowchart of a third embodiment of the camera sharing method of the present invention;
图7为本发明实施例方案涉及的硬件运行环境的设备结构示意图。FIG. 7 is a schematic diagram of the device structure of the hardware operating environment involved in the solution of the embodiment of the present invention.
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations.
本申请实施例的说明书和权利要求书中的术语“第一”和“第二”等是用于区别不同的对象，而不是用于描述对象的特定顺序。例如，第一目标对象和第二目标对象等是用于区别不同的目标对象，而不是用于描述目标对象的特定顺序。The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order of objects. For example, the first target object, the second target object, etc. are used to distinguish different target objects, rather than describing a specific order of the target objects.
在本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。In the embodiments of the present application, words such as "exemplary" or "for example" are used as examples, illustrations or illustrations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application shall not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete manner.
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
请参照图1，图1为本发明摄像头共用方法第一实施例的流程示意图。需要说明的是，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of a first embodiment of a camera sharing method according to the present invention. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.
本发明第一实施例提供一种摄像头共用方法，应用于摄像头共用系统，所述摄像头共用系统包括摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接；The first embodiment of the present invention provides a camera sharing method, which is applied to a camera sharing system. The camera sharing system includes a camera module and two or more controllers. The camera module is electrically connected to each of the controllers. connect;
所述摄像头共用方法包括以下步骤：The camera sharing method includes the following steps:
步骤S100，所述摄像头模块采集图像数据；Step S100, the camera module collects image data;
具体地，所述摄像头共用系统包括摄像头模块和两个及两个以上的控制器，可以理解的是，所述摄像头模块与各所述控制器电性连接方式可以是串联的连接方式，即所述摄像头模块与各所述控制器之间依次电性连接；也可以是并联的连接方式，即所述摄像头模块与各所述控制器分别电性连接，还可以是即串联又并联的连接方式，即所述摄像头模块与各所述控制器分别电性连接，且各所述控制器之间依次电性连接。示例性地，所述摄像头模块与各所述控制器之间的电性连接可以是通过GMSL(Gigabit Multimedia SerialLinks，千兆多媒体串行链路)进行连接，采用Lvds(Low-Voltage DifferentialSignaling，低电压差分信号)进行数据传输。Specifically, the camera sharing system includes a camera module and two or more controllers. It can be understood that the electrical connection between the camera module and each of the controllers may be in series, that is, the The camera module is electrically connected to each of the controllers sequentially; it can also be connected in parallel, that is, the camera module is electrically connected to each of the controllers respectively, or it can be connected in series and in parallel , that is, the camera module is electrically connected to each of the controllers, and each of the controllers is electrically connected to each other in turn. Exemplarily, the electrical connection between the camera module and each of the controllers can be connected through GMSL (Gigabit Multimedia Serial Links, Gigabit Multimedia Serial Links), using Lvds (Low-Voltage DifferentialSignaling, low-voltage differential signal) for data transmission.
所述摄像头模块可以包括拍摄单元，拍摄单元通过拍摄获得图像数据。The camera module may include a photographing unit, and the photographing unit obtains image data by photographing.
步骤S200，所述控制器中的目标控制器下发启用指令至所述摄像头模块；Step S200, the target controller in the controller sends an enable command to the camera module;
具体地，所述控制器可以包括自动驾驶控制器、电子后视镜控制器、行车记录仪、娱乐屏等存在图像数据需求的控制器。所述目标控制器为所述控制器中期望获取图像数据的至少一个控制器。所述启用指令用于控制所述摄像头模块启用，以使所述摄像头模块将采集到的图像数据发送至下发所述启用指令的目标控制器。其中，所述目标控制器可以通过所述目标控制器与所述摄像头模块之间的电性连接将启用指令发送至所述摄像头模块。Specifically, the controller may include controllers that require image data, such as an automatic driving controller, an electronic rearview mirror controller, a driving recorder, and an entertainment screen. The target controller is at least one controller expected to acquire image data among the controllers. The enabling instruction is used to control the enabling of the camera module, so that the camera module sends the collected image data to the target controller that issues the enabling instruction. Wherein, the target controller can send the enabling instruction to the camera module through the electrical connection between the target controller and the camera module.
步骤S300，所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器。Step S300, the camera module sends the image data to the target controller through the electrical connection between the camera module and the target controller in response to the enabling instruction.
具体地，在所述摄像头模块接收到控制器下发的启用指令后，所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器，由于所述摄像头模块与各所述控制器电性连接，因此，所述摄像头模块可以接收不同控制器的启用指令，并将所述图像数据传输至对应的控制器。从而实现了多控制器对于摄像头的共用。Specifically, after the camera module receives the enabling instruction issued by the controller, the camera module responds to the enabling instruction by electrically connecting the camera module and the target controller to the The image data is sent to the target controller. Since the camera module is electrically connected to each of the controllers, the camera module can receive activation instructions from different controllers and transmit the image data to the corresponding controller. In this way, the sharing of cameras by multiple controllers is realized.
在本发明摄像头共用方法的一实施例中，所述摄像头模块与各所述控制器分别电性连接；In an embodiment of the camera sharing method of the present invention, the camera module is electrically connected to each of the controllers;
步骤S300中所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤包括：The step of sending the image data to the target controller by the camera module through the electrical connection between the camera module and the target controller in step S300 includes:
步骤A10，所述摄像头模块的串行单元对所述图像数据进行加串，并将5加串后的图像数据发送至所述目标控制器的解串单元；Step A10, the serial unit of the camera module serializes the image data, and sends the serialized image data to the deserialization unit of the target controller;
步骤A20，所述目标控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。Step A20, the deserialization unit of the target controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the target controller.
需要说明的是，本发明中的串行单元、解串单元和处理单元均为泛指，0而非指定的某一特定单元，即串行单元为具备串行功能的单元，解串单元为具备解串功能的单元，处理单元为具备处理功能的单元。It should be noted that the serial unit, the deserialization unit and the processing unit in the present invention all refer generally, and 0 is not a specified specific unit, that is, the serial unit is a unit with a serial function, and the deserialization unit is A unit with a deserialization function, and a processing unit is a unit with a processing function.
参照图2，图2为本发明摄像头共用方法一实施例的场景示意图。图2中所述摄像头模块10与各所述控制器20分别电性连接。可以理解的是，图2Referring to FIG. 2 , FIG. 2 is a schematic diagram of a scene of an embodiment of a camera sharing method according to the present invention. The
中是以所述控制器20的数量为两个为例，所述控制器20的数量可以是两个5或两个以上。在所述摄像头模块10的拍摄单元采集到图像数据后，可以将所述图像数据发送至所述摄像头模块10的串行单元，然后所述摄像头模块10的的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述控制器20的解串单元。然后所述控制器20的解串单元对所述加串后的图像In the figure, the number of the
数据进行解串，获得所述图像数据，并将所述图像数据发送至所述控制器200的处理单元。所述目标控制器可以是所述控制器20中的至少一个控制器。从The data is deserialized to obtain the image data, and the image data is sent to the processing unit of the controller 200 . The target controller may be at least one of the
而本实施例中所述摄像模块10可以为多个所述控制器20提供图像数据，并且由于所述摄像头模块10与各所述控制器20是分别电性连接的，因此还可以保证所述摄像头模块10发送至各所述控制器20的图像数据的实时性。In this embodiment, the
5在本发明摄像头共用方法的另一实施例中，各所述控制器包括第一控制器和第二控制器，其中所述第二控制器为一个或一个以上的控制器，所述摄像头模块与所述第一控制器电性连接，所述第一控制器与各所述第二控制器之间依次电性连接；5 In another embodiment of the camera sharing method of the present invention, each of the controllers includes a first controller and a second controller, wherein the second controller is one or more controllers, and the camera module Electrically connected to the first controller, the first controller is electrically connected to each of the second controllers in turn;
步骤S300中所述摄像头模块通过所述摄像头模块与所述目标控制器之间0的电性连接将所述图像数据发送至所述目标控制器的步骤包括：In step S300, the step of the camera module sending the image data to the target controller through an electrical connection between the camera module and the target controller includes:
步骤B10，当所述目标控制器为所述第一控制器时，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；Step B10, when the target controller is the first controller, the serial unit of the camera module serializes the image data, and sends the serialized image data to the first controller The deserialization unit of the device;
步骤B11，所述第一控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的处理单元。Step B11, the deserialization unit of the first controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the first controller.
参照图3，图3为本发明摄像头共用方法一实施例的场景示意图。图2中各所述控制器包括第一控制器30和第二控制器40，所述摄像头模块10与所述第一控制器30电性连接，所述第一控制器30与各所述第二控制器20之间依次电性连接。图2中以所述第二控制器40为一个控制器为例，可以理解的是，所述第二控制器40可以是两个或者两个以上的控制器，其中所述第二控制器40中的各控制器之间也是依次连接的，从而以所述摄像头模块为起点，将各所述控制器依次电性连接在一起。在所述目标控制器为所述第一控制器30的情况下，在所述第一控制器30下发启用指令后，所述摄像头模块10的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器30的解串单元。所述第一控制器30的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的处理单元。Referring to FIG. 3 , FIG. 3 is a schematic scene diagram of an embodiment of a camera sharing method according to the present invention. Each of the controllers in FIG. 2 includes a
其中，步骤S300中所述摄像头模块通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤还包括：Wherein, in step S300, the step of the camera module sending the image data to the target controller through the electrical connection between the camera module and the target controller further includes:
步骤B20，当所述目标控制器为所述第二控制器时，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；Step B20, when the target controller is the second controller, the serial unit of the camera module serializes the image data, and sends the serialized image data to the first controller The deserialization unit of the device;
步骤B21，所述第一控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的串行单元；Step B21, the deserialization unit of the first controller deserializes the serialized image data to obtain the image data, and sends the image data to the serial unit of the first controller ;
步骤B22，所述第一控制器的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第二控制器的解串单元；Step B22, the serial unit of the first controller serializes the image data, and sends the serialized image data to the deserialization unit of the second controller;
步骤B23，所述第二控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第二控制器的处理单元。Step B23, the deserialization unit of the second controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the second controller.
同样参照图3，在所述目标控制器为所述第二控制器40的情况下，在所述第二控制器40下发启用指令后，所述摄像头模块10的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器30的解串单Referring also to FIG. 3 , in the case where the target controller is the
元。然后所述第一控制器30的解串单元对所述加串后的图像数据进行解串，5获得所述图像数据，并将所述图像数据发送至所述第一控制器30的串行单元。Yuan. Then the deserialization unit of the
所述第一控制器30的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述第二控制器40的解串单元。所述第二控制器40的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据The serial unit of the
发送至所述第二控制器40的处理单元。可以理解的是，在所述第二控制器下0发启用指令时，由于图像数据仅在第一控制器的串行单元和解串单元经过，sent to the processing unit of the
无需第一控制器的处理单元参与，即摄像头模块和第二控制器组成了一个独立系统，在图像数据传输的过程中不会对其他控制器造成干扰。Without the participation of the processing unit of the first controller, that is, the camera module and the second controller form an independent system, which will not interfere with other controllers during image data transmission.
在本发明第一实施例中，应用于摄像头共用系统，所述摄像头共用系统5包括摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接。本实施例通过所述摄像头模块采集图像数据；所述控制器中的目标控制器下发启用指令至所述摄像头模块；所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像In the first embodiment of the present invention, it is applied to a camera sharing system. The camera sharing system 5 includes a camera module and two or more controllers, and the camera module is electrically connected to each of the controllers. In this embodiment, image data is collected through the camera module; the target controller in the controller issues an enabling instruction to the camera module; the camera module responds to the enabling instruction, through the camera module and the The electrical connection between the target controller will be the image
数据发送至所述目标控制器。本实施例中由于所述摄像头模块与各所述控制0器电性连接，因此，所述摄像头模块可以接收不同控制器的启用指令，并将所述图像数据传输至对应的控制器。本实施例实现了多控制器对于摄像头的共用，从而可以减少布置位置相近或功能相似的摄像头的数量，减少车辆的生产成本。data is sent to the target controller. In this embodiment, since the camera module is electrically connected to each of the controllers, the camera module can receive enabling instructions from different controllers, and transmit the image data to the corresponding controller. This embodiment realizes sharing of cameras by multiple controllers, thereby reducing the number of cameras arranged in similar locations or having similar functions, and reducing the production cost of the vehicle.
5进一步地，参照图4，本发明第二实施例提供一种摄像头共用方法，基于上述图1所示的实施例，所述摄像头模块与各所述控制器分别电性连接，且各所述控制器之间依次电性连接；5 Further, referring to FIG. 4, the second embodiment of the present invention provides a camera sharing method. Based on the embodiment shown in FIG. 1 above, the camera module is electrically connected to each of the controllers, and each of the The controllers are electrically connected in turn;
步骤S300中所述摄像头模块通过所述摄像头模块与所述目标控制器之间In step S300, the camera module passes between the camera module and the target controller
的电性连接将所述图像数据发送至所述目标控制器的步骤包括：0步骤C10，所述摄像头模块获取与所述目标控制器之间的电性连接的第一连接状态；The step of sending the image data to the target controller through the electrical connection includes: 0 Step C10, the camera module obtains the first connection status of the electrical connection with the target controller;
步骤C20，当所述第一连接状态为故障连接时，所述摄像头模块以所述目标控制器为中心遍历与所述目标控制器相邻的相邻控制器，获取所述相邻控制器与所述摄像头模块之间的第二连接状态；Step C20, when the first connection state is a faulty connection, the camera module traverses the adjacent controllers adjacent to the target controller around the target controller, and obtains the connection between the adjacent controller and the target controller. A second connection state between the camera modules;
步骤C30，所述摄像头模块将所述第二连接状态为正常连接的相邻控制器中与所述目标控制器之间路径最短的相邻控制器作为中转控制器；Step C30, the camera module uses the adjacent controller with the shortest path between the adjacent controllers and the target controller among the adjacent controllers whose second connection status is normal connection as a transit controller;
步骤C40，所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器。Step C40, the camera module sends the image data to the target controller through the transit controller.
参照图5，图5为本发明摄像头共用方法第二实施例的场景示意图。图5中所述摄像头模块10与各所述控制器50分别电性连接，且各所述控制器50之间依次电性连接。所述摄像头模块通过对所述摄像头模块与各所述控制器50中的目标控制器之间的电性连接进行检测，获得第一连接状态。当所述第一连接状态为故障连接时，所述摄像头模块以所述目标控制器为中心遍历与所述目标控制器相邻的相邻控制器，获取所述相邻控制器与所述摄像头模块之间的第二连接状态。所述摄像头模块将所述第二连接状态为正常连接的相邻控制器中与所述目标控制器之间路径最短的相邻控制器作为中转控制器。其中，所述相邻控制器可以是与所述目标控制器直接相连的控制器，也可以是与所述目标控制器间接相连的控制器。示例性地，所述相邻控制器中与所述目标控制器之间路径的长度为所述相邻控制器中与所述目标控制器之间间隔的控制器的数量一致。例如，控制器1、控制器2、控制器3依次连接，则控制器1与控制器2之间路径的长度为0，控制器1与控制器3之间路径的长度为1，控制器2与控制器3之间路径的长度为0。由此可知，所述中转控制器为与所述摄像头模块正常连接，且与所述控制器之间间隔的控制器数量最少的控制器。然后，所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器。Referring to FIG. 5 , FIG. 5 is a schematic scene diagram of a second embodiment of the camera sharing method of the present invention. In FIG. 5 , the
本实施例中，通过所述摄像头模块与各所述控制器分别电性连接，且各所述控制器之间依次电性连接，从而在所述摄像头模块与所述控制器之间的电性连接为故障连接的情况下，遍历得到与所述目标控制器之间路径最短，且与所述摄像头模块能够正常连接的相邻控制器作为中转控制器，进而所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器，从而可以在电性连接出现故障的情况下通过所述中转控制器保证摄像头模块与所述目标控制器之间的数据传输，并且由于中转控制器与所述目标控制器之间路径最短，因此可以减少传输过程中加串、解串的次数，提高了所述图像数据传输的实时性。In this embodiment, the camera module is electrically connected to each of the controllers respectively, and each of the controllers is electrically connected in turn, so that the electrical connection between the camera module and the controller When the connection is a faulty connection, it is traversed to obtain the shortest path between the target controller and the adjacent controller that can be normally connected to the camera module as a transfer controller, and then the camera module passes through the transfer control controller to send the image data to the target controller, so that the data transmission between the camera module and the target controller can be guaranteed through the relay controller in the event of an electrical connection failure, and due to the relay The path between the controller and the target controller is the shortest, so the times of serialization and deserialization in the transmission process can be reduced, and the real-time performance of the image data transmission is improved.
其中，步骤C40所述摄像头模块通过所述中转控制器，将所述图像数据发送至所述目标控制器的步骤包括：Wherein, the step of the camera module in step C40 sending the image data to the target controller through the transit controller includes:
步骤C41，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述中转控制器的解串单元；Step C41, the serial unit of the camera module serializes the image data, and sends the serialized image data to the deserialization unit of the transit controller;
步骤C42，所述中转控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述中转控制器的串行单元；Step C42, the deserialization unit of the transfer controller deserializes the serialized image data to obtain the image data, and sends the image data to the serial unit of the transfer controller;
步骤C43，所述中转控制器的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；Step C43, the serial unit of the transfer controller serializes the image data, and sends the serialized image data to the deserialization unit of the target controller;
步骤C44，所述目标控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。Step C44, the deserialization unit of the target controller deserializes the serialized image data to obtain the image data, and sends the image data to the processing unit of the target controller.
具体地，所述摄像头模块的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述中转控制器的解串单元；所述中转控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述中转控制器的串行单元；所述中转控制器的串行单元对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；所述目标控制器的解串单元对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。Specifically, the serial unit of the camera module serializes the image data, and sends the serialized image data to the deserialization unit of the relay controller; the deserialization unit of the relay controller The serialized image data is deserialized to obtain the image data, and the image data is sent to the serial unit of the transfer controller; the serial unit of the transfer controller processes the image data performing serialization, and sending the serialized image data to the deserialization unit of the target controller; the deserialization unit of the target controller deserializes the serialized image data to obtain the image data, and sending the image data to the processing unit of the target controller.
进一步地，参照图6，本发明第三实施例提供一种摄像头共用方法，基于上述图1所示的实施例，步骤S300所述摄像头模块响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器的步骤，所述摄像头共用方法还包括：Further, referring to FIG. 6, the third embodiment of the present invention provides a method for sharing a camera. Based on the embodiment shown in FIG. The electrical connection between the target controllers sends the image data to the step of the target controller, and the camera sharing method also includes:
步骤S310，所述摄像头模块接收到两个或两个以上所述目标控制器下发的启用指令时，获取各所述目标控制器的优先级信息；Step S310, when the camera module receives activation instructions issued by two or more target controllers, acquire priority information of each target controller;
步骤S320，所述摄像头模块根据所述优先级信息确定发送次序，并按照所述发送次序，通过所述摄像头模块与各所述目标控制器之间的电性连接将所述图像数据发送至各所述目标控制器。Step S320, the camera module determines the sending order according to the priority information, and sends the image data to each target controller through the electrical connection between the camera module and each of the target controllers according to the sending order. the target controller.
在实际使用过程中，可能会存在多个目标控制器同时下发启用指令的情况，因此，为了避免不同控制器下发启用指令带来的通讯冲突。所述摄像头模块在接收到两个或两个以上所述目标控制器下发的启用指令时，可以获取各所述目标控制器的优先级信息。其中所述优先级信息包括各所述控制器对应的优先级，所述优先级与所述控制器对于图像数据的实时性需求呈正相关，即所述控制器对于图像数据的实时性需求越高，则优先级越高。示例性地，自动驾驶控制器对于图像数据的实时性需求高于电子后视镜控制器，则自动驾驶控制器的优先级高于电子后视镜。所述摄像头模块根据所述优先级信息确定发送次序，其中所述优先级越高，所述发送次序越小(即越早发送)。然后所述摄像机模块按照所述发送次序，通过所述摄像头模块与各所述目标控制器之间的电性连接将所述图像数据发送至各所述目标控制器。In actual use, there may be situations where multiple target controllers issue enable commands at the same time. Therefore, in order to avoid communication conflicts caused by different controllers issuing enable commands. When the camera module receives activation instructions issued by two or more target controllers, it may acquire priority information of each target controller. Wherein the priority information includes the priority corresponding to each of the controllers, and the priority is positively correlated with the real-time requirement of the controller for image data, that is, the higher the real-time requirement of the controller for image data , the higher the priority. For example, the automatic driving controller has higher real-time requirements for image data than the electronic rearview mirror controller, so the automatic driving controller has higher priority than the electronic rearview mirror. The camera module determines the sending order according to the priority information, wherein the higher the priority, the lower the sending order (that is, the earlier the sending). Then the camera module sends the image data to each of the target controllers through the electrical connection between the camera module and each of the target controllers according to the sending sequence.
本发明还提供一种摄像头共用系统，所述摄像头共用系统包括：摄像头模块和两个及两个以上的控制器，所述摄像头模块与各所述控制器电性连接；The present invention also provides a camera sharing system, the camera sharing system includes: a camera module and two or more controllers, the camera module is electrically connected to each of the controllers;
所述摄像头模块，用于采集图像数据；The camera module is used to collect image data;
所述控制器，用于下发启用指令至所述摄像头模块；The controller is configured to issue an enabling instruction to the camera module;
所述摄像头模块，还用于响应于所述启用指令，通过所述摄像头模块与所述目标控制器之间的电性连接将所述图像数据发送至所述目标控制器。The camera module is further configured to send the image data to the target controller through an electrical connection between the camera module and the target controller in response to the enabling instruction.
进一步地，所述摄像头模块与各所述控制器分别电性连接；Further, the camera module is electrically connected to each of the controllers;
所述摄像头模块的串行单元，用于对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；The serial unit of the camera module is used to serialize the image data, and send the serialized image data to the deserialization unit of the target controller;
所述目标控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。The deserialization unit of the target controller is configured to deserialize the serialized image data to obtain the image data, and send the image data to the processing unit of the target controller.
进一步地，各所述控制器包括第一控制器和第二控制器，其中所述第二控制器为一个或一个以上的控制器，所述摄像头模块与所述第一控制器电性连接，所述第一控制器与各所述第二控制器之间依次电性连接；Further, each of the controllers includes a first controller and a second controller, wherein the second controller is one or more controllers, and the camera module is electrically connected to the first controller, The first controller is electrically connected to each of the second controllers in turn;
所述摄像头模块的串行单元，用于当所述目标控制器为所述第一控制器时，对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；The serial unit of the camera module is configured to serialize the image data when the target controller is the first controller, and send the serialized image data to the first controller The deserialization unit of the device;
所述第一控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的处理单元。The deserialization unit of the first controller is configured to deserialize the serialized image data to obtain the image data, and send the image data to the processing unit of the first controller.
进一步地，所述摄像头模块的串行单元，用于当所述目标控制器为所述第二控制器时，对所述图像数据进行加串，并将加串后的图像数据发送至所述第一控制器的解串单元；Further, the serial unit of the camera module is configured to serialize the image data when the target controller is the second controller, and send the serialized image data to the a deserialization unit of the first controller;
所述第一控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第一控制器的串行单元；The deserialization unit of the first controller is configured to deserialize the serialized image data to obtain the image data, and send the image data to the serial unit of the first controller ;
所述第一控制器的串行单元，用于对所述图像数据进行加串，并将加串后的图像数据发送至所述第二控制器的解串单元；The serial unit of the first controller is used to serialize the image data, and send the serialized image data to the deserialization unit of the second controller;
所述第二控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述第二控制器的处理单元。The deserialization unit of the second controller is configured to deserialize the serialized image data to obtain the image data, and send the image data to the processing unit of the second controller.
进一步地，所述摄像头模块与各所述控制器分别电性连接，且各所述控制器之间依次电性连接；Further, the camera module is electrically connected to each of the controllers, and each of the controllers is electrically connected to each other in turn;
所述摄像头模块，用于获取与所述控制器之间的电性连接的第一连接状态；The camera module is used to obtain a first connection status of the electrical connection with the controller;
所述摄像头模块，用于当所述第一连接状态为故障连接时，以所述目标控制器为中心遍历与所述目标控制器相邻的相邻控制器，获取所述相邻控制器与所述摄像头模块之间的第二连接状态；The camera module is configured to traverse the adjacent controllers adjacent to the target controller around the target controller when the first connection state is a faulty connection, and obtain the connection between the adjacent controller and the target controller. A second connection state between the camera modules;
所述摄像头模块，用于将所述第二连接状态为正常连接的相邻控制器中与所述目标控制器之间路径最短的相邻控制器作为中转控制器；The camera module is configured to use the adjacent controller with the shortest path between the target controller and the target controller among the adjacent controllers whose second connection status is normal connection as a transit controller;
所述摄像头模块，用于通过所述中转控制器，将所述图像数据发送至所述目标控制器。The camera module is configured to send the image data to the target controller through the transit controller.
进一步地，所述摄像头模块的串行单元，用于对所述图像数据进行加串，并将加串后的图像数据发送至所述中转控制器的解串单元；Further, the serial unit of the camera module is configured to serialize the image data, and send the serialized image data to the deserialization unit of the transit controller;
所述中转控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述中转控制器的串行单元；The deserialization unit of the transfer controller is used to deserialize the serialized image data to obtain the image data, and send the image data to the serial unit of the transfer controller;
所述中转控制器的串行单元，用于对所述图像数据进行加串，并将加串后的图像数据发送至所述目标控制器的解串单元；The serial unit of the transfer controller is used to serialize the image data, and send the serialized image data to the deserialization unit of the target controller;
所述目标控制器的解串单元，用于对所述加串后的图像数据进行解串，获得所述图像数据，并将所述图像数据发送至所述目标控制器的处理单元。The deserialization unit of the target controller is configured to deserialize the serialized image data to obtain the image data, and send the image data to the processing unit of the target controller.
进一步地，所述摄像头模块，用于接收到两个或两个以上所述目标控制器下发的启用指令时，获取各所述目标控制器的优先级信息；Further, the camera module is configured to obtain the priority information of each of the target controllers when receiving activation instructions from two or more target controllers;
所述摄像头模块，用于根据所述优先级信息确定发送次序，并按照所述发送次序，通过所述摄像头模块与各所述目标控制器之间的电性连接将所述图像数据发送至各所述目标控制器。The camera module is configured to determine a sending order according to the priority information, and send the image data to each of the target controllers through the electrical connection between the camera module and each of the target controllers according to the sending order. the target controller.
如图7所示，图7为本发明实施例方案涉及的硬件运行环境的设备结构示意图。As shown in FIG. 7 , FIG. 7 is a schematic diagram of a device structure of a hardware operating environment involved in the solution of the embodiment of the present invention.
如图7所示，所述摄像头共用设备可以包括：处理器1001，例如中央处理器(Central Processing Unit，CPU)，通信总线1002、用户接口1003，网络接口1004，存储器1005。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏(Display)、输入单元比如键盘(Keyboard)，可选用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口(如无线保真(WIreless-FIdelity，WI-FI)接口)。存储器1005可以是高速的随机存取存储器(RandomAccess Memory，RAM)存储器，也可以是稳定的非易失性存储器(Non-Volatile Memory，NVM)，例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。As shown in FIG. 7 , the camera sharing device may include: a
本领域技术人员可以理解，图7中示出的设备结构并不构成对所述摄像头共用设备的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art can understand that the device structure shown in Figure 7 does not constitute a limitation to the camera sharing device, and may include more or less components than shown in the figure, or combine some components, or different components layout.
如图7所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及摄像头共用应用程序。As shown in FIG. 7 , the
在图7所示的设备中，网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；用户接口1003主要用于连接客户端，与客户端进行数据通信；而处理器1001可以用于调用存储器1005中存储的摄像头共用程序，实现上述实施例提供的摄像头共用方法中的操作。In the device shown in Figure 7, the
此外，本发明实施例还提出一种车辆，所述车辆包括上述摄像头共用设备。当然，可以理解的是，所述车辆还包括储能装置、驱动装置等其他保障车辆正常运行的装置。In addition, an embodiment of the present invention also provides a vehicle, the vehicle includes the above-mentioned camera sharing device. Of course, it can be understood that the vehicle also includes energy storage devices, driving devices and other devices to ensure the normal operation of the vehicle.
此外，本发明实施例还提出一种计算机存储介质，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现上述实施例提供的摄像头共用方法中的操作，具体步骤此处不再过多赘述。In addition, the embodiment of the present invention also proposes a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the operations in the camera sharing method provided by the above embodiment are implemented, and the specific steps are as follows No more details here.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体/操作/对象与另一个实体/操作/对象区分开来，而不一定要求或者暗示这些实体/操作/对象之间存在任何这种实际的关系或者顺序；术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second etc. are only used to distinguish one entity/operation/object from another entity/operation/object and do not necessarily require or imply these entities/operations/objects exists between any such actual relationship or order; the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, An article or system includes not only those elements, but also other elements not expressly listed, or elements inherent in such a process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.
对于设备实施例而言，由于其基本相似于方法实施例，所以描述得比较简单，相关之处参见方法实施例的部分说明即可。以上所描述的设备实施例仅仅是示意性的，其中作为分离部件说明的单元可以是或者也可以不是物理上分开的。可以根据实际的需要选择中的部分或者全部模块来实现本发明方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to part of the description of the method embodiment. The device embodiments described above are illustrative only, where units illustrated as separate components may or may not be physically separate. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. It can be understood and implemented by those skilled in the art without creative effort.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，车辆，或者网络设备等)执行本发明各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in various embodiments of the present invention.
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.
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| WO2024146242A1 (en) | 2024-07-11 |
| CN116033265B (en) | 2024-08-06 |
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