Disclosure of Invention
In order to solve at least one aspect of the problems, the invention provides a parking image system, which comprises an image source end, a display end and an image processing end, wherein the image source end comprises an image acquisition module, a first communication module and an image source processor, the image acquisition module and the first communication module are respectively connected with the image source processor, the image acquisition module is used for acquiring an environment image and outputting a coded image, the image acquisition module outputs an image message through the first communication module, the image message comprises a message sequence number, a coded image and a data check bit, the image source processor outputs image source flag bit information through the first communication module, the image source flag bit information comprises image acquisition module flag bit information and first communication module flag bit information, the display end comprises a second communication module, an image decoding module, a display end processor and a display, the second communication module is connected with the first communication module, the image decoding module receives the image message through being connected with the second communication module, the image decoding module outputs an image message based on the image decoding module, the image decoding module comprises a decoding image frame and a display end, the image decoding frame is requested to be processed through the display end, the image frame is requested to be processed through the display end, and the display end is requested to output image frame information based on the decoding frame status, and the image signal is processed through the display end and the display end, the display end processor evaluates the image source state based on the image source zone bit information, when the image source state comprises an image source fault, the display end processor outputs an emergency braking request instruction, the display end processor is used for acquiring display end zone bit information, the display end zone bit information comprises second communication module zone bit information, image decoding module zone bit information and display zone bit information, the display end booster evaluates the display end state based on the display end zone bit information, and when the display end state comprises a display end fault, the display end processor outputs an emergency braking request instruction, and the emergency braking request instruction is used for activating a vehicle emergency braking module.
Preferably, the first communication module includes an ethernet transceiver and a CAN transceiver, the image acquisition module outputs the image message through the ethernet transceiver, the image source processor adds the data check bit through the ethernet transceiver, and the image source processor outputs the image source flag bit information through the CAN transceiver.
Preferably, the ethernet transceiver employs a TSN time sensitive network related protocol.
Preferably, the image processor adds E2E communication verification information through the CAN transceiver.
Preferably, the image frame fault further includes an error frame state, and the display end controller outputs the error frame state based on a check result of the data check bit.
Preferably, the image frame fault includes a frame loss fault state, the display processor includes a frame loss braking threshold and a frame loss prompting threshold, the frame loss prompting threshold is smaller than the frame loss braking threshold, the display processor calculates a frame loss time based on the message sequence number, when the frame loss time is greater than the frame loss braking threshold, the display processor outputs the frame loss fault state, and when the frame loss time is greater than the frame loss prompting threshold and smaller than the frame loss braking threshold, the display booster outputs the frame loss prompting state.
Preferably, the image frame fault includes a frame rate fault state, the display processor includes a frame rate braking threshold and a frame rate prompting threshold, the frame rate prompting threshold is greater than the frame rate braking threshold, the display processor calculates a frame rate based on the decoded image, the display processor outputs the frame rate fault state when the frame rate is less than the frame rate braking threshold, and the display booster outputs the frame rate prompting state when the frame rate is greater than the frame rate fault threshold and less than the frame rate prompting threshold.
Preferably, the display-side processor terminates the display from outputting the decoded image in response to the image frame failure.
Preferably, the display-end processor receives the vehicle speed through the vehicle body controller, and when the vehicle speed is greater than a preset speed threshold, the display-end processor turns off the display.
Preferably, the system further comprises a memory, wherein the memory is used for storing the image source faults and the display end faults.
The parking image system has the advantages that the image data of the parking image system and the state of hardware equipment are monitored and evaluated, and the parking control instruction is output based on the evaluation result, so that the technical problem that accidents are caused by misjudgment of a driver due to the failure of the parking image system is solved.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The term "comprising" and variations thereof as used herein means open ended, i.e., "including but not limited to. The term "or" means "and/or" unless specifically stated otherwise. The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment. The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other explicit and implicit definitions are also possible below.
To at least partially address one or more of the above-mentioned problems and other potential problems, embodiments of the present disclosure provide a parking image system including an image source for collecting vehicle environment image information and a display communicatively connected to the image source, the display controlling a vehicle-mounted display to display a reverse image based on the received environment image information, and outputting a parking request command, e.g., the parking request command including an emergency brake request command, the display outputting the emergency brake request command through a connection brake controller.
The image source end comprises an image acquisition module, a first communication module and an image source processor, wherein the image acquisition module and the first communication module are respectively connected with the image source processor, the image acquisition module is used for acquiring an environment image and outputting a coded image, the image acquisition module outputs an image message through the first communication module, the image message comprises a message sequence number, a coded image and a data check bit, the image source processor outputs image source zone bit information through the first communication module, and the image source zone bit information comprises image acquisition module zone bit information and first communication module zone bit information. As shown in fig. 1, the image acquisition module comprises a lens module, an image sensor and a system on chip, wherein the lens module is used for collecting ambient light, ensuring that the ambient light CAN be refracted onto the image sensor, the image sensor is used for converting an ambient image light signal into an ambient image electric signal, the system on chip is used for processing the ambient image electric signal input by the image sensor and encoding the ambient image electric signal to output an encoded image, such as TDA2, the first communication module comprises an ethernet transceiver and a CAN transceiver, the image acquisition module outputs an image message through the ethernet transceiver, the image source processor adds a data check bit through the ethernet transceiver, and the image source processor outputs image source flag bit information through the CAN transceiver. The image source processor adopts a microprocessor, monitors the state of each device at the image source end by acquiring the image source zone bit information in real time, and is used for controlling the functions of each device of the image source. In other embodiments, as shown in fig. 2 and 3, the image source uses a system architecture of a back-up image camera and a parking image controller. Or in another embodiment, as shown in fig. 4 and 5, the image source end adopts a system architecture of a camera and a parking image controller.
The display terminal comprises a second communication module, an image decoding module, a display terminal processor and a display. As shown in fig. 1, the second communication module includes an ethernet transceiver and a CAN transceiver, and the image decoding module adopts a system on a chip. The display end processor adopts a microprocessor, the display end receives the image message through the Ethernet transceiver, the display end receives the image source zone bit information through the CAN transceiver, the display is connected with the system on chip, and the display end processor outputs the image through controlling the system on chip to enable the display to display the environment image. In another embodiment, as shown in fig. 2 and fig. 4, the display end adopts a system architecture of an infotainment host controller and a display screen, where the infotainment host controller is configured to implement functions of the second communication module, the image decoding module, and the display end processor. Or as shown in fig. 3 and 5, the display end adopts a system architecture that the infotainment host controller is separated from the display screen.
The second communication module is connected with the first communication module, the image decoding module receives an image message through the second communication module, the image decoding module outputs a decoding message based on the image message, the decoding message comprises a decoding image, a message serial number and a data check bit, the display is used for outputting the decoding image, the display processor receives the decoding message through the image decoding module, the display processor evaluates the image frame state based on the decoding message, when the image frame state comprises an image frame fault, the display processor outputs an emergency braking request instruction, the display processor receives image source flag bit information through the second communication module, the display processor evaluates the image source state based on the image source flag bit information, when the image source state comprises an image source fault, the display processor outputs an emergency braking request instruction, the display processor is used for acquiring the display end flag bit information, the display end flag bit information comprises second communication module flag bit information, the image decoding module flag bit information and the display flag bit information, the display booster evaluates the display end state based on the display end flag bit information, when the display end state comprises the display end fault, the display end processor outputs the emergency braking request instruction, and the display end is used for activating the vehicle emergency braking request instruction.
The hardware modules used in the image source end and the display end have self-checking functions, and corresponding flag bits can be set when the hardware modules fail. The image source end processor evaluates the state of each hardware based on the display end zone bit information and the image source zone bit information. The black screen/blue screen/flower screen fault problem caused by hardware fault is solved by evaluating the display end zone bit information and the image source zone bit information.
In some embodiments, if the image source uses the h.264 encoding method to compress the acquired environmental image, the transmission time of the ethernet RTP packet must be enough that the first I frame can be transmitted within 40ms, and the UDP transmission period is 40ms/I frame UDP packet number.
In some embodiments, the ethernet transceiver employs a TSN time sensitive network related protocol.
Specifically, a TSN time sensitive network related protocol is adopted to ensure real-time performance of ethernet data transmission, correct time stamp and reservation of transmission bandwidth. The video delay is avoided through the Ethernet sensitive time network protocol, so that the technical problem of traffic accidents caused by misjudgment due to the video delay is solved.
In some embodiments, the image processor adds E2E communication verification information through the CAN transceiver.
Specifically, E2E communication check information, such as Quality-bit, CRC check and the like, is added to the CAN message, so that the validity and the correctness of signals in the CAN message are ensured. The display end can receive accurate image source zone bit information through E2E communication verification information, so that state information of each device of the image source end is accurately received.
In some embodiments, the image frame failure further includes an error frame state, and the display side controller outputs the error frame state based on a check result of the data check bits.
Specifically, the ethernet data message is added with a data check bit, the display end judges whether the received image message data has errors or not through the data check bit, if the data errors are found, the display end needs to give out error frame prompt information and adopts a corresponding minimum safety strategy, and sends an emergency braking request instruction to the brake controller through the CAN bus to activate the vehicle emergency braking function.
In some embodiments, the image frame failure includes a frame loss failure state, the display side processor includes a frame loss braking threshold and a frame loss prompting threshold, the frame loss prompting threshold is less than the frame loss braking threshold, the display side processor calculates a frame loss time based on the message sequence number, the display side processor outputs the frame loss failure state when the frame loss time is greater than the frame loss braking threshold, and the display side booster outputs the frame loss prompting state when the frame loss time is greater than the frame loss prompting threshold and less than the frame loss braking threshold.
Specifically, the image source processor increases the message sequence number through the Ethernet transceiver, the display processor judges whether the frame loss situation exists or not through the message sequence number, if the frame loss situation exists, the system gives prompt information, when the continuous frame loss time exceeds the frame loss braking threshold value for 50ms, the system adopts a corresponding minimum safety strategy, and sends an emergency braking request instruction to the brake controller through the CAN bus to activate the vehicle emergency braking function. The freezing fault and the picture blocking fault existing when the display screen outputs pictures are solved through monitoring the frame loss state.
In some embodiments, the image frame failure includes a frame rate failure state, the display side processor includes a frame rate braking threshold and a frame rate hint threshold, the frame rate hint threshold is greater than the frame rate braking threshold, the display side processor calculates a frame rate based on the decoded image, the display side processor outputs the frame rate failure state when the frame rate is less than the frame rate braking threshold, and the display side booster outputs the frame rate hint state when the frame rate is greater than the frame rate failure threshold and less than the frame rate hint threshold.
Specifically, the display end processor monitors Ethernet data by controlling the system on a chip of the display end, counts and calculates the frame rate, when the frame rate is reduced to be less than a frame rate prompt threshold value of 25fps, the system gives prompt information, when the frame rate is reduced to be less than a frame rate brake threshold value of 20fps, a corresponding minimum safety strategy is adopted, an emergency brake request instruction is sent to the brake controller through the CAN bus, and the vehicle emergency brake function is activated. The freezing fault and the picture blocking fault existing when the display screen outputs pictures are solved through monitoring the frame rate.
In some embodiments, the display-side processor terminates the display output of the decoded image in response to an image frame failure.
Specifically, when the display end processor does not allow frame loss, error frames are received and the frame rate is reduced, the display of the parking image video is continuously maintained by calling the cache data in the video display end, so that a driver cannot perceive that the current picture is different from the current environment of the vehicle, and the driver can judge and operate in error, thereby causing accidents.
In some embodiments, the display-side processor receives the vehicle speed through the vehicle body controller, and the display-side processor displays off when the vehicle speed is greater than a preset speed threshold.
In particular, the preset speed threshold is 15km/h, the parking imaging system can only be activated for use at low speeds, and when the vehicle speed is greater than 15km/h (4.17 m/s), the display must shut down the parking imaging video. As will be appreciated by those skilled in the art, the preset speed threshold may be set according to the actual needs of the vehicle.
In some embodiments, the system further comprises a memory for storing the image source failure and the display end failure.
The display terminal comprises a nonvolatile memory for storing the fault of the display terminal. The display end controller turns off the image source end device and the display end device based on the display end fault and the image source fault, and the display end controller activates the image source end device and the display end device in response to the fault clearing instruction.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the disclosure.