Panoramic quick reversing method, terminal device and storage medium

Abstract

The present application relates to a kind of panoramic quick reversing method, terminal equipment and storage medium, the method includes: the calibration parameter of panoramic all-around looking is configured as a label item in DTB file, establishes the independent disk partition for storing calibration parameter;When vehicle calibration, the calibration parameter content after calibration is updated to the calibration parameter structure body of disk independent partition, while updating update flag and validity flag;When Boot starts, if update flag has update, read the content in calibration parameter structure body and update to the corresponding label item in DTB file, update update flag and validity flag;When kernel starts to panoramic reversing module, parse DTB file, obtain calibration parameter from the corresponding label item, realize panoramic reversing based on calibration parameter.The present application not only guarantees the quickness of reversing, but also eliminates the potential safety and stability of system hibernation Hidden danger.

Description

Technical Field

[0001] This invention relates to the field of reversing, and more particularly to a panoramic rapid reversing method, terminal equipment, and storage medium. Background Technology

[0002] The current field of rapid reversing has gradually shifted from simple single-camera rapid reversing to reversing based on 360-degree panoramic views. However, current 360-degree panoramic reversing cannot achieve rapid reversing. Either the system needs to be activated first, and then "rapid" reversing is achieved through the app, which significantly reduces speed and cannot meet automakers' requirements of seeing an image in 3 seconds or even 2 seconds; or the device enters sleep mode and bypasses the startup time by waking the system, thus speeding up the startup. While this technical solution can shorten the cold start time of the reversing assistance system, the sleep mechanism causes the system to reside in memory for a long time, leading to increased system fragmentation and decreased operational stability. Furthermore, the system's prolonged standby and sleep state generates additional power consumption, posing a safety hazard of vehicle battery drain, which is unacceptable to automakers.

[0003] Achieving a 360° panoramic view requires calibration parameters. These parameters are typically set during equipment installation or after camera replacement in specific locations. These complex and time-consuming functions are implemented in the app after the system is running. The panoramic view built using the rapid reversing camera also requires these parameters to ensure consistency between the rapid reversing effect and the app's display. This prevents issues like large blind spots, severe distortion, and obvious camera boundaries in the rapid reversing view. Therefore, to achieve parameter sharing between the kernel and the app, resources stored in the storage medium (NAND / EMMC) must be used within the kernel. The conventional approach is to initialize the storage device, and even the corresponding file system, within the kernel, and then perform file or disk operations. However, this significantly slows down the startup process. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a panoramic rapid reversing method, a terminal device, and a storage medium.

[0005] The specific plan is as follows:

[0006] A panoramic quick reversing method includes the following steps:

[0007] Configure the calibration parameters of the panoramic view as a tag item in the DTB file, and create an independent disk partition for storing the calibration parameters. Store the initial calibration parameters in the independent disk partition, and store the calibration parameter update flag, calibration parameter validity flag, and calibration parameter structure.

[0008] When the vehicle is calibrated, the calibration parameters are updated to the calibration parameter structure in the independent disk partition. At the same time, the calibration parameter update flag is updated to the flag that there is an update, and the calibration parameter validity flag is updated to the flag that is valid.

[0009] When Boot starts, it reads the calibration parameter update flag in the independent disk partition. If there is a corresponding update flag, it reads the contents of the calibration parameter structure to update the corresponding tag in the DTB file, updates the calibration parameter update flag to the flag with no update flag, and updates the calibration parameter validity flag to the flag with the invalid flag.

[0010] When the kernel boots to the panoramic reversing module, it parses the DTB file, obtains the calibration parameters from the corresponding tag entries, and implements panoramic reversing based on the calibration parameters.

[0011] Furthermore, the panoramic reversing module runs in kernel mode and uses the CPU to perform panoramic stitching entirely.

[0012] Furthermore, the operating priority of the video input subsystem and video display subsystem that communicate with the panoramic reversing module is set to the highest operating priority in the kernel.

[0013] A panoramic rapid reversing terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described above in the embodiments of the present invention.

[0014] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above in the embodiments of the present invention.

[0015] The present invention adopts the above technical solution to realize 360-degree panoramic reversing in the kernel, which not only ensures the speed of reversing, but also eliminates the potential security and stability risks of system hibernation. Attached Figure Description

[0016] Figure 1 The diagram shown is a flowchart of Embodiment 1 of the present invention. Detailed Implementation

[0017] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention.

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0019] Example 1:

[0020] DTS (DeviceTreeSource) is a file describing the device tree; it is the device tree source code file. DTB is the binary file obtained after compiling DTS. This invention provides a panoramic fast reversing method that dynamically transmits calibration parameters through the DTB file, such as... Figure 1 As shown, the method includes the following steps:

[0021] S1: Configure the calibration parameters of the panoramic view as a tag item in the DTB file, and create an independent disk partition ( / dev / mmcblk0px) for storing the calibration parameters. Store the initial calibration parameters in the independent disk partition. The stored content includes the calibration parameter update flag, the calibration parameter validity flag, and the calibration parameter structure.

[0022] The initial calibration parameters are default parameters set based on experience.

[0023] Independent disk partitioning allows the bootloader and application to operate directly without requiring file system support.

[0024] The storage format in this embodiment is as follows:

[0025] struct{

[0026] uint32_t update_flag; / / Flag for updating calibration parameters;

[0027] uint32_t valid_flag; / / Flag indicating the validity of the parameter;

[0028] Struct calibration_parameter_arry; / / Calibration parameter structure;

[0029] };

[0030] update_flag: The calibration parameter update flag. When the APP performs calibration and writes calibration parameters, this field is updated synchronously to tell the BOOT that the calibration parameters have been updated. When the BOOT starts, it needs to import the subsequent calibration parameters into the DTB file and then pass them to the kernel for use.

[0031] valid_flag: A flag indicating the validity of calibration parameters. This flag is used to identify the validity of calibration parameters. The APP updates this field synchronously when writing calibration parameters.

[0032] calibration_parameter_arry: The calibration parameter structure, with a fixed size based on the actual definition.

[0033] S2: When the vehicle is calibrated, the independent disk partition is opened as a raw device, the calibration parameters are updated to the calibration parameter structure of the independent disk partition, the calibration parameter update flag is updated to the flag with corresponding update, and the calibration parameter validity flag is updated to the flag with valid correspondence.

[0034] Calibration is only required when the calibration parameters need to be updated. This can be done when the vehicle leaves the factory or when the calibration parameters need to be recalibrated due to deviation.

[0035] S3: When Boot starts, read the calibration parameter update flag in the independent disk partition. If there is a corresponding update flag, read the contents of the calibration parameter structure and update the corresponding tag in the DTB file. Then, update the calibration parameter update flag to the flag with no update flag and update the calibration parameter validity flag to the flag with invalid flag. If there is no corresponding update flag, do not update the corresponding tag in the DTB file.

[0036] S4: When the kernel boots to the panoramic reversing module, it parses the DTB file, obtains the calibration parameters from the corresponding tag, and implements panoramic reversing based on the calibration parameters.

[0037] This invention implements 360° panoramic reversing in the kernel, which not only ensures the speed of reversing but also eliminates potential security and stability risks associated with system hibernation.

[0038] Example 2:

[0039] The present invention also provides a panoramic rapid reversing terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the method embodiment described above in Embodiment 1 of the present invention.

[0040] Furthermore, as an executable solution, the panoramic rapid reversing terminal device can be a computing device such as an on-board computer. The panoramic rapid reversing terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the above-described composition of the panoramic rapid reversing terminal device is merely an example and does not constitute a limitation on the panoramic rapid reversing terminal device. It may include more or fewer components than described above, or combine certain components, or different components. For example, the panoramic rapid reversing terminal device may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0041] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the panoramic rapid reversing terminal device, connecting all parts of the device via various interfaces and lines.

[0042] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the panoramic rapid reversing terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0043] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0044] If the modules / units integrated in the panoramic rapid reversing terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0045] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A panoramic rapid reversing method, characterized in that, Includes the following steps: Configure the calibration parameters of the panoramic view as a tag item in the DTB file, and create an independent disk partition for storing the calibration parameters. Store the initial calibration parameters in the independent disk partition, and store the calibration parameter update flag, calibration parameter validity flag, and calibration parameter structure. When the vehicle is calibrated, the calibration parameters are updated to the calibration parameter structure in the independent disk partition. At the same time, the calibration parameter update flag is updated to the flag that there is an update, and the calibration parameter validity flag is updated to the flag that is valid. When Boot starts, it reads the calibration parameter update flag in the independent disk partition. If there is a corresponding update flag, it reads the contents of the calibration parameter structure to update the corresponding tag in the DTB file, updates the calibration parameter update flag to the flag with no update flag, and updates the calibration parameter validity flag to the flag with the invalid flag. When the kernel boots to the panoramic reversing module, it parses the DTB file, obtains the calibration parameters from the corresponding tag entries, and implements panoramic reversing based on the calibration parameters.

2. The panoramic rapid reversing method according to claim 1, characterized in that: The panoramic reversing module runs in kernel mode and uses the CPU to perform panoramic stitching.

3. The panoramic rapid reversing method according to claim 1, characterized in that: Set the running priority of the video input subsystem and video display subsystem that communicate with the panoramic reversing module to the highest running priority in the kernel.

4. A panoramic rapid reversing terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 3.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 3.

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