Image processing method and device, storage medium, electronic rearview mirror system and vehicle

Abstract

An image processing method, device, storage medium, electronic rearview mirror system and vehicle. The method comprises: an electronic rearview mirror control unit (101) acquires first image data collected from one or more cameras (111; 112; 113), and sends the first image data to a domain controller (102); the domain controller (102) receives the first image data sent by the electronic rearview mirror control unit (101); and the electronic rearview mirror control unit (101) processes the first image data to obtain processed image data, and outputs the processed image data to a display device (121; 122; 123). The safety requirements of intelligent driving are guaranteed, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, and in particular to an image processing method and device, a storage medium, an electronic rearview mirror system, and a vehicle. BACKGROUND

[0002] With the development of technology, electronic rearview mirrors begin to be installed on vehicles to provide image information of the vehicle surroundings and assist safe driving. Electronic rearview mirrors, also known as camera monitor systems (CMS), include a camera and a display screen, and can capture real-time images through the camera and transmit the images to the display screen for display. Compared with optical rearview mirrors, electronic rearview mirrors have the advantages of widening the field of view and being unaffected by the environment.

[0003] Currently, implementing the function of an electronic rearview mirror on a vehicle usually requires a dedicated electronic control unit (ECU) to process the data collected by the camera to be displayed on the display screen. The scheme of installing an electronic rearview mirror on a vehicle is not mature, and often has slow startup and high latency, which affects user experience and large-scale application. Therefore, there is an urgent need for safer and more efficient image processing technology to improve the above problems and improve user experience, so that this technology can be widely applied. SUMMARY

[0004] In view of this, an image processing method and device, a storage medium, an electronic rearview mirror system, and a vehicle are provided.

[0005] In a first aspect, an embodiment of the present application provides an image processing method. The method is used in an electronic rearview mirror control unit, and includes: obtaining first image data collected by one or more cameras from the one or more cameras; sending the first image data to a domain controller (DC); processing the first image data to obtain processed image data, and outputting the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0006] According to an embodiment of the present application, image data collected by a camera is obtained by an electronic rearview mirror control unit, and processed image data is output to a display device, so that the camera can be directly connected to the electronic rearview mirror control unit to realize the function of an electronic rearview mirror, without relying on a domain controller. When the domain controller fails, the function of the electronic rearview mirror can also be normally realized, ensuring the safety requirements of intelligent driving, and the electronic rearview mirror has fast startup and small latency in this case, improving user experience. At the same time, by sending the first image data to the domain controller through the electronic rearview mirror control unit, the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving cost and space deployment.

[0007] According to a first aspect, in a first possible implementation manner of the image processing method, the method further includes: receiving second image data sent by the domain controller, the second image data being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; processing the second image data to obtain processed image data, and outputting the processed image data to the display device.

[0008] According to the embodiments of the present application, the first image data is sent to the domain controller by the electronic rearview mirror control unit for processing to obtain second image data, so that the domain controller can use its computing power to calculate to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0009] According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the image processing method, receiving the second image data sent by the domain controller includes: receiving the second image data sent by the domain controller through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0010] In this way, the transmission efficiency of the electronic rearview mirror control unit when receiving the second image data can be higher.

[0011] According to the first or second possible implementation manner of the first aspect, in a third possible implementation manner of the image processing method, a field of view range of the second image data corresponds to a vehicle driving scene.

[0012] In this way, the image information can be more refined, and the driving experience is better.

[0013] According to the first, second or third possible implementation manner of the first aspect, in a fourth possible implementation manner of the image processing method, the field of view range of the second image data includes a 360-degree panoramic environment around the vehicle.

[0014] In this way, the field of view range of the image can be larger, and the driving experience is better.

[0015] According to the first aspect or the first, second, third or fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the image processing method, the method further includes: receiving indication information sent by the domain controller, the indication information being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; and outputting corresponding display information to the display device according to the indication information.

[0016] According to the embodiment of the present application, the first image data is sent to the domain controller by the electronic rearview mirror control unit for processing to obtain the indication information, so that the domain controller can use its computing power to calculate to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0017] In a sixth possible implementation of the image processing method according to the first aspect or the first, second, third, fourth or fifth possible implementation of the first aspect, the electronic rearview mirror control unit comprises a deserializer and a processing unit, the deserializer is configured to be connected with the one or more cameras, acquire the first image data, and send the first image data to the processing unit; the processing unit is configured to process the first image data to obtain processed image data, and output the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0018] Thus, the electronic rearview mirror function can be independently implemented.

[0019] In a seventh possible implementation of the image processing method according to the sixth possible implementation of the first aspect, sending the first image data to the domain controller DC comprises: the deserializer sends the first image data to the domain controller.

[0020] Thus, a manner of sending the first image data to the domain controller by the electronic rearview mirror control unit can be implemented, so that the domain controller can use its computing power to calculate to enhance the function of the electronic rearview mirror and improve the user experience.

[0021] In an eighth possible implementation of the image processing method according to the sixth possible implementation of the first aspect, sending the first image data to the domain controller DC comprises: the processing unit sends the first image data to the domain controller.

[0022] Thus, another manner of sending the first image data to the domain controller by the electronic rearview mirror control unit can be implemented, so that the domain controller can use its computing power to calculate to enhance the function of the electronic rearview mirror and improve the user experience.

[0023] In a ninth possible implementation of the image processing method according to the first aspect or the first, second, third, fourth, fifth, sixth, seventh or eighth possible implementation of the first aspect, sending the first image data to the domain controller DC comprises: sending the first image data to the domain controller through a low-voltage differential signal (LVDS) interface.

[0024] Therefore, the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve the user experience.

[0025] In a tenth possible implementation of the image processing method according to the first aspect or the first, second, third, fourth, fifth, sixth, seventh, or eighth possible implementation of the first aspect, the one or more cameras include a first camera configured to capture an image of a left rear side of the vehicle, a second camera configured to capture an image of a right rear side of the vehicle, and a third camera configured to capture an image of a rear side of the vehicle, and the display device includes a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

[0026] Therefore, by using multiple cameras and display devices, the electronic rearview mirror function can be better implemented, and the user experience can be improved.

[0027] In a second aspect, an embodiment of the present application provides an image processing method. The method is used for a domain controller DC, and the method includes: receiving first image data sent by an electronic rearview mirror control unit, the first image data being image data captured by one or more cameras and acquired by the electronic rearview mirror control unit, the first image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to a display device corresponding to the electronic rearview mirror control unit.

[0028] According to the embodiments of the present application, by receiving the first image data, which is image data captured by the cameras and acquired by the electronic rearview mirror control unit, and by processing and outputting the image data to the display device, the cameras can be directly connected to the electronic rearview mirror control unit to implement the function of the electronic rearview mirror, without relying on the domain controller. When the domain controller fails, the function of the electronic rearview mirror can still be normally implemented, the safety requirement of intelligent driving is ensured, and the electronic rearview mirror starts quickly and has a small time delay in this case, which improves the user experience. Meanwhile, by receiving the first image data sent by the electronic rearview mirror control unit, the image data captured by the cameras can be shared with the electronic rearview mirror, and the cost and space deployment are saved.

[0029] According to a second aspect, in a first possible implementation manner of the image processing method, the method further includes: acquiring sensing data collected by one or more sensors; determining second image data according to the first image data and / or the sensing data collected by the one or more sensors; and sending the second image data to the electronic rearview mirror control unit, the second image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to the display device.

[0030] According to the embodiments of the present application, the sensing data is acquired by the domain controller, and the second image data is determined according to the first image data and / or the sensing data, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0031] According to the first possible implementation manner of the second aspect, in a second possible implementation manner of the image processing method, the sending of the second image data to the electronic rearview mirror control unit includes: sending the second image data to the electronic rearview mirror control unit through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0032] In this way, the transmission efficiency of the domain controller in sending the second image data can be higher.

[0033] According to the first or second possible implementation manner of the second aspect, in a third possible implementation manner of the image processing method, a field of view range of the second image data corresponds to a vehicle driving scene.

[0034] In this way, the image information can be more refined, and the driving experience can be better.

[0035] According to the first or second or third possible implementation manner of the second aspect, in a fourth possible implementation manner of the image processing method, a field of view range of the second image data includes a 360-degree panoramic environment around the vehicle.

[0036] In this way, the field of view range of the image can be larger, and the driving experience can be better.

[0037] In a fifth possible implementation of the image processing method according to the second aspect or the first, the second, the third, or the fourth possible implementation of the second aspect, the method further includes: obtaining sensing data collected by one or more sensors; determining the indication information according to the first image data and / or the sensing data collected by the one or more sensors; and sending the indication information to the electronic rearview mirror control unit, the indication information being used by the electronic rearview mirror control unit to output corresponding display information to the display device according to the indication information.

[0038] According to the embodiments of the present application, the sensing data is obtained by the domain controller, and the indication information is determined according to the first image data and / or the sensing data, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0039] In a sixth possible implementation of the image processing method according to the second aspect or the first, the second, the third, the fourth, or the fifth possible implementation of the second aspect, the electronic rearview mirror control unit includes a deserializer, and receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the deserializer.

[0040] Thus, a manner of receiving the first image data by the domain controller is implemented, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and improve the user experience.

[0041] In a seventh possible implementation of the image processing method according to the second aspect or the first, the second, the third, the fourth, or the fifth possible implementation of the second aspect, the electronic rearview mirror control unit includes a processing unit, and receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the processing unit.

[0042] Thus, another manner of receiving the first image data by the domain controller is implemented, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and improve the user experience.

[0043] In an eighth possible implementation of the image processing method according to the second aspect or the first, the second, the third, the fourth, the fifth, or the sixth, or the seventh possible implementation of the second aspect, receiving the first image data sent by the electronic rearview mirror control unit includes: receiving the first image data sent by the electronic rearview mirror control unit through a low-voltage differential signal (LVDS) interface.

[0044] Thus, the domain controller can use its computing power to perform calculations to enhance the function of the electronic rearview mirror and improve the user experience.

[0045] According to the second aspect or the first, second, third, fourth, fifth, sixth, seventh, or eighth possible implementation of the second aspect, in a ninth possible implementation of the image processing method, the one or more cameras include a first camera configured to capture an image of a left rear side of the vehicle, a second camera configured to capture an image of a right rear side of the vehicle, and a third camera configured to capture an image of a rear side of the vehicle, and the display device includes a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

[0046] Thus, by using multiple cameras and display devices, the electronic rearview mirror function can be better implemented and the user experience can be improved.

[0047] In a third aspect, an embodiment of the present application provides an image processing device. The device is configured to be used in an electronic rearview mirror control unit, and the device includes: a first acquisition module configured to acquire first image data captured by one or more cameras; a first sending module configured to send the first image data to a domain controller DC; and a first processing and output module configured to process the first image data to obtain processed image data and output the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0048] According to the third aspect, in a first possible implementation of the image processing device, the device further includes: a first receiving module configured to receive second image data sent by the domain controller, the second image data being determined by the domain controller based on the first image data and / or sensor data captured by one or more sensors; and a second processing and output module configured to process the second image data to obtain processed image data and output the processed image data to the display device.

[0049] According to the first possible implementation of the third aspect, in a second possible implementation of the image processing device, the first receiving module is configured to receive the second image data sent by the domain controller through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0050] In a third possible implementation manner of the image processing apparatus according to the first or second possible implementation manner, a field of view range of the second image data corresponds to a vehicle driving scene.

[0051] In a fourth possible implementation manner of the image processing apparatus according to the first, second or third possible implementation manner of the third aspect, the field of view range of the second image data includes a 360-degree panoramic environment around the vehicle.

[0052] In a fifth possible implementation manner of the image processing apparatus according to the third aspect or the first, second, third or fourth possible implementation manner of the third aspect, the apparatus further includes: a second receiving module configured to receive indication information sent by the domain controller, the indication information being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; and a third processing and output module configured to output corresponding display information to the display device according to the indication information.

[0053] In a sixth possible implementation manner of the image processing apparatus according to the third aspect or the first, second, third, fourth or fifth possible implementation manner of the third aspect, the electronic rearview mirror control unit includes a deserializer and a processing unit, the deserializer is configured to be connected to the one or more cameras, acquire the first image data, and send the first image data to the processing unit; and the processing unit is configured to process the first image data to obtain processed image data, and output the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0054] In a seventh possible implementation manner of the image processing apparatus according to the sixth possible implementation manner of the third aspect, the first sending module is configured to send, by the deserializer, the first image data to the domain controller.

[0055] In an eighth possible implementation manner of the image processing apparatus according to the sixth possible implementation manner of the third aspect, the first sending module is configured to send, by the processing unit, the first image data to the domain controller.

[0056] In a ninth possible implementation manner of the image processing apparatus according to the third aspect or the first, second, third, fourth, fifth, sixth, seventh or eighth possible implementation manner of the third aspect, the first sending module is configured to send, by a low-voltage differential signal (LVDS) interface, the first image data to the domain controller.

[0057] In a tenth possible implementation manner of the image processing apparatus according to the third aspect or the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth possible implementation manner, the one or more cameras include a first camera configured to capture a left rear side of the vehicle, a second camera configured to capture a right rear side of the vehicle, and a third camera configured to capture a rear side of the vehicle, and the display device includes a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

[0058] In a fourth aspect, an embodiment of the present application provides an image processing apparatus. The apparatus is configured to be used in a domain controller DC, and the apparatus includes: a third receiving module configured to receive first image data sent by an electronic rearview mirror control unit, the first image data being acquired by the electronic rearview mirror control unit from one or more cameras, the first image data being used by the electronic rearview mirror control unit to obtain processed image data by processing, and the processed image data being output by the electronic rearview mirror control unit to a display device corresponding to the electronic rearview mirror control unit.

[0059] In a first possible implementation manner of the image processing apparatus according to the fourth aspect, the apparatus further includes: a second acquiring module configured to acquire sensing data collected by one or more sensors; a first determining module configured to determine second image data according to the first image data and / or the sensing data collected by the one or more sensors; and a second sending module configured to send the second image data to the electronic rearview mirror control unit, the second image data being used by the electronic rearview mirror control unit to obtain processed image data by processing, and the processed image data being output by the electronic rearview mirror control unit to the display device.

[0060] In a second possible implementation manner of the image processing apparatus according to the first possible implementation manner of the fourth aspect, the second sending module is configured to send the second image data to the electronic rearview mirror control unit through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0061] In a third possible implementation manner of the image processing apparatus according to the first or second possible implementation manner of the fourth aspect, a field of view range of the second image data corresponds to a vehicle driving scene.

[0062] According to the fourth aspect, in a first possible implementation manner or a second possible implementation manner or a third possible implementation manner of the fourth aspect, in a fourth possible implementation manner of the image processing apparatus, the field of view range of the second image data comprises a 360-degree panoramic environment around the vehicle.

[0063] According to the fourth aspect or the first possible implementation manner or the second possible implementation manner or the third possible implementation manner or the fourth possible implementation manner of the fourth aspect, in a fifth possible implementation manner of the image processing apparatus, the apparatus further comprises: a third acquisition module, configured to acquire sensing data collected by one or more sensors; a second determination module, configured to determine indication information according to the first image data and / or the sensing data collected by the one or more sensors; and a third sending module, configured to send the indication information to the electronic rearview mirror control unit, the indication information being used by the electronic rearview mirror control unit to output corresponding display information to the display device according to the indication information.

[0064] According to the fourth aspect or the first possible implementation manner or the second possible implementation manner or the third possible implementation manner or the fourth possible implementation manner or the fifth possible implementation manner of the fourth aspect, in a sixth possible implementation manner of the image processing apparatus, the electronic rearview mirror control unit comprises a deserializer, and the third receiving module is configured to receive the first image data sent by the deserializer.

[0065] According to the fourth aspect or the first possible implementation manner or the second possible implementation manner or the third possible implementation manner or the fourth possible implementation manner or the fifth possible implementation manner of the fourth aspect, in a seventh possible implementation manner of the image processing apparatus, the electronic rearview mirror control unit comprises a processing unit, and the third receiving module is configured to receive the first image data sent by the processing unit.

[0066] According to the fourth aspect or the first possible implementation manner or the second possible implementation manner or the third possible implementation manner or the fourth possible implementation manner or the fifth possible implementation manner or the sixth possible implementation manner or the seventh possible implementation manner of the fourth aspect, in an eighth possible implementation manner of the image processing apparatus, the third receiving module is configured to receive the first image data sent by the electronic rearview mirror control unit through a low-voltage differential signal (LVDS) interface.

[0067] In a ninth possible implementation manner of the image processing apparatus according to the fourth aspect or the first, the second, the third, the fourth, the fifth, the sixth, or the seventh possible implementation manner of the fourth aspect, the one or more cameras include a first camera configured to capture a left rear side of the vehicle, a second camera configured to capture a right rear side of the vehicle, and a third camera configured to capture a rear side of the vehicle, and the display device includes a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

[0068] In a fifth aspect, an embodiment of the present application provides an image processing apparatus, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect, or implement the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect when executing the instructions.

[0069] In a sixth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect, or implement the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect.

[0070] In a seventh aspect, an embodiment of the present application provides a terminal device, which can execute the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect, or execute the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect.

[0071] In an eighth aspect, an embodiment of the present application provides a computer program product, comprising computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, when the computer-readable code is run in an electronic device, a processor in the electronic device executes the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect, or executes the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect.

[0072] In a ninth aspect, embodiments of the present application provide an electronic rearview mirror system, comprising: one or more cameras; display devices corresponding to the one or more cameras; an electronic rearview mirror control unit configured to perform the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect.

[0073] In a tenth aspect, embodiments of the present application provide a vehicle, comprising: one or more cameras; display devices corresponding to the one or more cameras; an electronic rearview mirror control unit configured to perform the image processing method of the first aspect or one or more of the possible implementation manners of the first aspect; a domain controller DC configured to perform the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect.

[0074] In an eleventh aspect, embodiments of the present application provide a vehicle, comprising: the electronic rearview mirror system of the ninth aspect; a domain controller DC configured to perform the image processing method of the second aspect or one or more of the possible implementation manners of the second aspect.

[0075] These and other aspects of the present application will become more fully understood from the following (a few) embodiment descriptions. BRIEF DESCRIPTION OF DRAWINGS

[0076] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate the example embodiments, features and aspects of the present application and, together with the description, further serve to explain the principles of the present application.

[0077] Figure 1 A possible intelligent driving domain controller and electronic rearview mirror shared camera deployment are shown.

[0078] Figure 2 A schematic diagram of a system architecture according to an embodiment of the present application is shown.

[0079] Figure 3 A flowchart of an image processing method according to an embodiment of the present application is shown.

[0080] Figure 4 A schematic diagram of a first image data transmission manner according to an embodiment of the present application is shown.

[0081] Figure 5 A flowchart of an image processing method according to an embodiment of the present application is shown.

[0082] Figure 6 A schematic diagram of a second image data transmission manner according to an embodiment of the present application is shown.

[0083] Figure 7A flow chart of an image processing method according to an embodiment of the present application is shown.

[0084] Figure 8 A structural diagram of an image processing apparatus according to an embodiment of the present application is shown.

[0085] Figure 9 A structural diagram of an image processing apparatus according to an embodiment of the present application is shown.

[0086] Figure 10 A structural diagram of an electronic device 100 according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0087] Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numbers in different drawings denote the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0088] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0089] In addition, for the purpose of convenience and brevity, detailed descriptions of well-known functions and structures incorporated in the application are omitted. It will be appreciated that those skilled in the art will be able to devise various arrangements that, although not explicitly described herein, embody the principles of the application and fall within the spirit and scope of the application.

[0090] With the development of technology, vehicles tend to be provided with cameras at different positions for collecting images around the vehicle. After the intelligent driving domain controller fuses the data obtained from the sensors including the cameras, the vehicle control is performed according to the fused data. After the electronic rearview mirror is installed on the vehicle, the positions of the camera connected to the electronic rearview mirror and the camera connected to the intelligent driving domain controller may coincide, and the problem of sharing the cameras at the corresponding positions between the intelligent driving domain controller and the electronic rearview mirror needs to be solved. Figure 1 A possible deployment mode of sharing the cameras between the intelligent driving domain controller and the electronic rearview mirror is shown. Referring to Figure 1In this deployment mode, the camera sends the collected image data to the intelligent driving domain controller, the intelligent driving domain controller can fuse the image data and the data collected by other sensors to perform vehicle control and realize the function of intelligent driving. The image data is also sent by the intelligent driving domain controller to the electronic rearview mirror ECU, and the electronic rearview mirror ECU processes the image data and sends it to the corresponding display screen for display to realize the electronic rearview mirror function.

[0091] In this way, when the intelligent driving domain controller fails, the electronic rearview mirror ECU cannot obtain the image data collected by the camera, so it cannot realize the electronic rearview mirror function and will also fail, which cannot guarantee the safety requirement. In this case, after the vehicle is powered on, the electronic rearview mirror needs to wait for the intelligent driving domain controller to start before it can be used normally, so the start is slow and the time delay is high, which affects the user experience.

[0092] To solve the above technical problems, the application further provides an image processing method. The image processing method of the application embodiment can realize that the electronic rearview mirror control unit obtains first image data collected by one or more cameras from the one or more cameras, processes the first image data by the electronic rearview mirror control unit to obtain processed image data, and outputs the processed image data to the display device corresponding to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror. The electronic rearview mirror control unit can also send the first image data to the intelligent driving domain controller (domain controller, DC), and the domain controller DC receives the first image data to realize other intelligent driving functions. According to the application embodiment, the camera can be directly connected to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror, without relying on the domain controller. When the domain controller fails, the electronic rearview mirror function can also be realized normally, which guarantees the safety requirement of intelligent driving, and the electronic rearview mirror starts quickly and has small time delay in this case, which improves the user experience. At the same time, by sending the first image data to the domain controller, the electronic rearview mirror and the domain controller can also share the image data collected by the camera, which saves the cost and the space deployment of the camera.

[0093] Figure 2 A schematic diagram of a system architecture according to an embodiment of the application is shown. As shown in FIG. 1, the system architecture includes a camera 100, an electronic rearview mirror control unit 200, and a domain controller 300. Figure 2As shown, the electronic rearview mirror system of the embodiments of the present application can be deployed on a vehicle, and can include one or more of an electronic rearview mirror control unit 101, one or more cameras, and one or more display devices. For example, the electronic rearview mirror system can include only the electronic rearview mirror control unit 101, or include the electronic rearview mirror control unit 101 and one or more display devices, or include the electronic rearview mirror control unit 101 and one or more cameras, or include the electronic rearview mirror control unit 101, one or more cameras, and one or more display devices, which are not limited in the present application. Among them, the one or more cameras can include cameras 111-113, part or all of the cameras 111-113 can be cameras dedicated to realizing the electronic rearview mirror function, and part or all of the cameras 111-113 can also be part of the sensor 103, which can be used to provide image data to the domain controller to realize vehicle control and realize intelligent driving functions, which are not limited in the present application. The one or more display devices can include display devices 121-123, part or all of the display devices 121-123 can be display devices dedicated to realizing the electronic rearview mirror function, and part or all of the display devices 121-123 can also be display devices used to realize other intelligent driving functions in addition to realizing the electronic rearview mirror function, which are not limited in the present application. Among them, the cameras 111-113 can be deployed outside the vehicle and connected to the electronic rearview mirror control unit 101, used to take pictures of the rear of the vehicle, obtain first image data and send it to the electronic rearview mirror control unit 101. The electronic rearview mirror control unit 101 can be dedicated to realizing the electronic rearview mirror function in combination with the camera and the display device, and can be deployed separately on the ECU or the CDC, or can be integrated with other domain controllers deployed on the vehicle, and can be used to receive the first image data collected by the cameras 111-113, process the first image data to obtain processed image data, and send it to the display devices 121-123 for display, and can also be used to send the first image data to the domain controller 102 deployed on the vehicle. The domain controller 102 can be connected to the electronic rearview mirror control unit 101, used to receive the first image data sent by the electronic rearview mirror control unit 101. The domain controller 102 can be a domain controller used to realize intelligent driving related functions, such as a vehicle-mounted computing device. The display devices 121-123 can be screens, projections, etc., and can be deployed inside the vehicle and connected to the electronic rearview mirror control unit 101, used to receive the processed image data sent by the electronic rearview mirror control unit 101 for display.

[0094] In one possible implementation, other sensors are also deployed on the vehicle, as shown in the figure, such as sensor 103, which can be connected to domain controller 102. Sensor 103 may include one or more of the following: vehicle radar (such as millimeter-wave radar, lidar, ultrasonic radar, etc.), rain sensor, camera, vehicle attitude sensor (such as gyroscope), inertial measurement unit (IMU), global navigation satellite system (GNSS), etc. The camera may be a camera other than cameras 111-113, or some or all of the cameras 111-113. In this embodiment, sensor 103 can be used to enhance the function of the electronic rearview mirror. For example, after the electronic rearview mirror control unit 101 sends the first image data to the domain controller 102, the domain controller 102 can determine new image data based on the first image data and the sensing data collected by sensor 103 to achieve better electronic rearview mirror function.

[0095] In one possible implementation, the image processing method of this application can be used in intelligent driving scenarios. For example, in an autonomous driving scenario, if the domain controller 102 fails, the driver can take over vehicle control. At this time, the electronic rearview mirror control unit 101 can also work normally, realizing the function of the electronic rearview mirror, that is, the driver can drive safely based on the surrounding conditions indicated by the electronic rearview mirror. It should be noted that the image processing method of this application can also be used in other vehicle driving scenarios, such as in non-intelligent driving scenarios to assist the driver in driving, and this application does not limit this application.

[0096] The following is passed Figures 3-7 ,exist Figure 2 Based on the system architecture shown, the image processing method of the embodiments of this application will be described in detail.

[0097] Figure 3 A flowchart illustrating an image processing method according to an embodiment of this application is shown. Figure 3 As shown, the method includes:

[0098] Step S201: The electronic rearview mirror control unit acquires first image data captured by one or more cameras.

[0099] The one or more cameras can include a first camera (e.g., the camera 111) configured to capture an image of a left rear side of the vehicle, a second camera (e.g., the camera 112) configured to capture an image of a right rear side of the vehicle, and a third camera (e.g., the camera 113) configured to capture an image of a rear side of the vehicle. The first image data can include image data of the left, right, and rear sides of the vehicle captured by the cameras 111-113, respectively. The cameras can also include only some of the above-described cameras or more than the above-described cameras, which is not limited in the present application.

[0100] The electronic mirror control unit can include a deserializer and a processing unit. The processing unit can be a system on chip (SoC), and the deserializer can be connected to the one or more cameras (e.g., the cameras 111-113). The first image data captured by the cameras can be obtained by the deserializer and sent to the processing unit via the deserializer, and the processing unit can perform step S204.

[0101] In a possible implementation, the one or more cameras can send the first image data to the deserializer via low voltage differential signaling (LVDS).

[0102] In step S202, the electronic mirror control unit sends the first image data to the domain controller.

[0103] To enable the electronic mirror control unit to send the first image data to the domain controller to implement intelligent driving, and to meet the functional safety requirements of intelligent driving, the automotive safety integration level (ASIL) of the electronic mirror control unit can be ASIL B or higher.

[0104] The electronic mirror control unit can send the first image data to the domain controller via an LVDS interface. Referring to Figure 4 , Figure 4 FIG. 1 shows a schematic diagram of a transmission mode of the first image data according to an embodiment of the present application. As shown in Figure 4 The domain controller can include a deserializer and a processing unit, and the processing unit can be a system on chip (SoC) (e.g., SoC2 in the figure).

[0105] In a possible implementation, in step S202, the electronic mirror control unit can send the first image data to the domain controller via the deserializer. Referring to Figure 4 (a) and Figure 4(b) respectively show two ways of sending the first image data by the electronic rearview mirror control unit to the domain controller through a deserializer.

[0106] In the first way, as shown in Figure 4 (a), after receiving the first image data sent by the camera as parallel data, the deserializer of the electronic rearview mirror control unit can not convert the first image data from parallel data to serial data, but send the first image data to the deserializer of the domain controller through the LVDS interface. The deserializer of the domain controller processes the data, converts the first image data from parallel data to serial data, and sends the processed image data to SoC2 through the mobile industry processor interface (MIPI), so that the subsequent processing unit of the domain controller can process the image data to realize related intelligent driving functions.

[0107] In the second way, as shown in Figure 4 (b), the electronic rearview mirror control unit can also include a serializer. The deserializer of the electronic rearview mirror control unit can process the first image data, convert the first image data from parallel data to serial data, and send it to the serializer through the MIPI. The serializer can convert the first image data from serial data to parallel data, and send the first image data to the deserializer of the domain controller through the LVDS interface. The deserializer of the domain controller can process the data, convert the first image data from parallel data to serial data, and send the processed image data to SoC2 through the mobile industry processor interface (MIPI), so that the subsequent processing unit of the domain controller can process the image data to realize related intelligent driving functions.

[0108] In a possible implementation, in step S202, the electronic rearview mirror control unit can send the first image data to the domain controller through the processing unit of the electronic rearview mirror control unit. Wherein, referring to Figure 4 (c), which shows one way of sending the first image data by the electronic rearview mirror control unit to the domain controller through the processing unit. The processing unit of the electronic rearview mirror control unit can be a system on chip SoC (such as SoC1 in the figure)

[0109] As shown in Figure 4As shown in (c), the electronic rearview mirror control unit can further include a deserializer. The SoC1 can receive the first image data processed and sent by the deserializer through the MIPI, and send the first image data to the serializer through the MIPI. The serializer can convert the first image data from serial data to parallel data, and send the first image data to the deserializer of the domain controller through the LVDS interface. The deserializer of the domain controller can process the data, convert the first image data from parallel data to serial data, and send the processed image data to the SoC2 through the MIPI, so that the processing unit of the subsequent domain controller can process the image data to realize related intelligent driving functions.

[0110] In step S203, the domain controller receives the first image data sent by the electronic rearview mirror control unit.

[0111] In step S203, the domain controller receives the first image data sent by the electronic rearview mirror control unit.

[0112] In step S203, the domain controller receives the first image data sent by the electronic rearview mirror control unit.

[0113] In step S204, the electronic rearview mirror control unit processes the first image data to obtain processed image data, and outputs the processed image data to the display device corresponding to the electronic rearview mirror control unit.

[0114] In step S204, the electronic rearview mirror control unit processes the first image data to obtain processed image data, and outputs the processed image data to the display device corresponding to the electronic rearview mirror control unit.

[0115] For example, the processing unit can convert the color format of the first image data, such as converting YUV format to RGB format.

[0116] In step S204, the electronic rearview mirror control unit processes the first image data to obtain processed image data, and outputs the processed image data to the display device corresponding to the electronic rearview mirror control unit.

[0117] The display device can be a display device dedicated to implementing the electronic rearview mirror function, or can be a display device used for implementing the electronic rearview mirror function and other intelligent driving functions, for example, a display screen of a center console, and can also be used for implementing global positioning system (GPS) navigation and other functions, which is not limited in the present application.

[0118] In a possible implementation, the display device can include a first display device (such as the display device 121 described above) corresponding to the first camera, which can be arranged at a left front side in the vehicle and used for displaying an electronic rearview mirror image of a rear side of the left side of the vehicle captured by the first camera; a second display device (such as the display device 122 described above) corresponding to the second camera, which can be arranged at a right front side in the vehicle and used for displaying an electronic rearview mirror image of a rear side of the right side of the vehicle captured by the second camera; and a third display device (such as the display device 123 described above) corresponding to the third camera, which can be arranged above the center console in the vehicle and used for displaying an electronic rearview mirror image of a rear side of the vehicle captured by the third camera. The display device can also include only part of the display devices described above or include more display devices than those described above, which is not limited in the present application.

[0119] According to the embodiments of the present application, the electronic rearview mirror control unit acquires the image data collected by the camera and outputs the processed image data to the display device, so that the camera can be directly connected to the electronic rearview mirror control unit to implement the electronic rearview mirror function, without relying on the domain controller. When the domain controller fails, the electronic rearview mirror function can also be normally implemented, which guarantees the safety requirement of intelligent driving, and the electronic rearview mirror starts quickly and has small time delay in this case, improving the user experience. The electronic rearview mirror control unit sends the first image data to the domain controller, which can also implement sharing of the image data collected by the camera by the electronic rearview mirror and the domain controller, saving the cost and space deployment.

[0120] In a possible implementation, on the basis of the above process, the domain controller can also process the first image data by using the sensor data to implement function enhancement of the electronic rearview mirror, further improving the safety and comfort in the driving process. Two ways of implementing function enhancement of the electronic rearview mirror can be referred to the following Figure 5 and Figure 6 .

[0121] Figure 5 A flowchart of an image processing method according to an embodiment of the present application is shown. As Figure 5 shown, the method further includes:

[0122] In step S401, the domain controller acquires sensor data collected by one or more sensors.

[0123] The sensing data can be used to implement functions related to intelligent driving, such as radar data collected by a vehicle-mounted radar, image data collected by a camera (which can include some or all of the cameras 111-113, or other cameras other than the cameras 111-113, such as a 360-degree surround-view camera, etc.), and the like, which are not limited in the present application.

[0124] In step S402, the domain controller determines second image data according to the first image data and / or sensing data collected by the one or more sensors.

[0125] For example, the sensing data can include image data collected by a camera in the sensor, which can include image data of the blocked part in the first image data (i.e., the visual field blind area in the first image data, such as the part blocked by the pillars on both sides of the front windshield of the vehicle), and can also include other parts not photographed in the first image data. The first image data can be supplemented according to the image data to determine the second image data, which can be image data with a larger field of view than the first image data. The second image data can be determined by a processing unit of the domain controller.

[0126] In a possible implementation, the field of view of the second image data can include a 360-degree panoramic environment around the vehicle. Thus, the field of view during driving is wider, and driving is safer and more comfortable.

[0127] In a possible implementation, the field of view of the second image data can correspond to the driving scene of the vehicle.

[0128] For example, the domain controller can determine the driving state of the current vehicle, such as straight driving, reversing, left turning, right turning, lane changing, etc., through sensing data collected by a vehicle attitude sensor (such as a gyroscope) in the sensor, and determine different field of view ranges (such as different directions, angles, etc.) of the second image data according to different scenes. For example, in the case that the driving state of the current vehicle is straight driving, the second image data can be image data of the left and right sides of the vehicle (including the part blocked by the pillars on both sides of the front windshield); in the case that the driving state of the current vehicle is left lane changing, the second image data can be image data of the left and rear of the vehicle in the first image data. The above-mentioned second image data can be determined by supplementing the blocked part in the first image data according to image data collected by a camera in the sensor. The second image data can be determined by a processing unit in the domain controller.

[0129] Thus, the image information can be more refined, and the driving experience is better.

[0130] Step S403: The domain controller sends the second image data to the electronic mirror control unit.

[0131] In a possible implementation, the interface used by the domain controller to send the second image data to the electronic mirror control unit can refer to Figure 4 the interface used by the domain controller to send the first image data, and only the transmission direction is opposite to that of Figure 4 sending the first image data, which will not be repeated here.

[0132] In a possible implementation, the domain controller can also send the second image data to the electronic mirror control unit through a controller area network (CAN) or an ethernet (ETH) interface.

[0133] Figure 6 FIG. 4 shows a schematic diagram of a transmission manner of the second image data according to an embodiment of the present application. As Figure 6 shown, the second image data can be sent by a processing unit (e.g., Soc2 in the figure) of the domain controller to a processing unit (e.g., SoC1 in the figure) of the electronic mirror control unit through a CAN or an ETH interface.

[0134] In this way, the transmission efficiency of the second image data can be improved.

[0135] Step S404: The electronic mirror control unit receives the second image data sent by the domain controller.

[0136] In a possible implementation, the electronic mirror control unit can receive the second image data sent by the domain controller through a controller area network (CAN) interface or an ethernet (ETH) interface. This process can refer to the above Figure 6 , which will not be repeated here.

[0137] Step S405: The electronic mirror control unit processes the second image data to obtain processed image data, and outputs the processed image data to the display device.

[0138] In this way, the transmission efficiency of the second image data can be improved.

[0139] For example, if the field of view range of the second image data is a 360-degree panoramic environment around the vehicle, the 360-degree panoramic environment can be displayed on all display devices in split screen, for example, if there are three display devices, the environment around the vehicle every 120 degrees after processing the second image data can be displayed on each device.

[0140] For example, if the field of view range of the second image data is different in different vehicle driving scenarios, the corresponding image can be displayed on the corresponding display device. For example, if there are three display devices, the second image data sent by the domain controller can include image data of the left side, right side and rear of the vehicle, corresponding to the left side, right side and overhead of the center of the vehicle in the vehicle. In the case where the domain controller determines that the driving state of the current vehicle is straight, the second image data sent by the domain controller to the electronic rearview mirror control unit can include image data of the left side and right side of the vehicle, and the image data corresponding to the rear of the vehicle can be empty. After receiving the second image data, the electronic rearview mirror control unit can display the image data corresponding to the left side and right side of the vehicle after processing the second image data on the display devices on the left side and right side of the vehicle, respectively, and no image data on the display device above the center of the vehicle.

[0141] It should be noted that the display device can also display the image data in other ways, which is not limited in the present application.

[0142] According to the embodiment of the present application, the first image data is sent to the domain controller for processing by the electronic rearview mirror control unit to obtain the second image data, which can make the domain controller use its computing power to calculate to enhance the function of the electronic rearview mirror, and further improve the safety and comfort in the driving process.

[0143] Figure 7 A flowchart of an image processing method according to an embodiment of the present application is shown. As shown in Figure 7 The method further includes:

[0144] In step S601, the domain controller acquires sensing data collected by one or more sensors.

[0145] The process can refer to the related description in step S401.

[0146] In step S602, the domain controller determines the indication information according to the first image data and / or the sensing data collected by the one or more sensors.

[0147] The indication information can be used to indicate the 360-degree situation around the vehicle.

[0148] For example, the sensor data can include data collected by a vehicle radar, which can indicate a distance between the vehicle and a related obstacle, for example. The domain controller can determine whether there is an obstacle too close to the vehicle (which can be determined when the distance is less than a preset threshold) around the vehicle and determine the position of the obstacle (which can be a relative position of the obstacle to the vehicle) based on the data collected by the vehicle radar (e.g., a laser radar). After the position of the obstacle is determined, the type of the obstacle (e.g., another vehicle, a pedestrian, etc.) can be determined by locating the obstacle in the first image data according to the position of the obstacle, and the indication information can be determined accordingly. In a possible implementation, the domain controller can also determine the second image data according to the method in step S402 based on the first image data and / or the sensor data collected by the one or more sensors. After the position of the obstacle is determined, the type of the obstacle can be determined by locating the obstacle in the second image data according to the position of the obstacle, and the indication information can be determined accordingly. The indication information can include information indicating the position of the obstacle too close to the vehicle around the vehicle and the type of the obstacle, for example, image data indicating the position information of the corresponding obstacle in the first image data or the second image data, distance information between the obstacle and the vehicle, and the like, which are not limited in the present application. The indication information can be determined by a processing unit in the domain controller.

[0149] In step S603, the domain controller sends the indication information to the electronic rearview mirror control unit.

[0150] The domain controller can send the indication information to the electronic rearview mirror control unit in the manner described with reference to the manner in which the domain controller sends the second image data to the electronic rearview mirror control unit in step S403, which is not repeated here.

[0151] In step S604, the electronic rearview mirror control unit receives the indication information sent by the domain controller.

[0152] The electronic rearview mirror control unit can receive the indication information in the manner described with reference to the manner in which the electronic rearview mirror control unit receives the second image data in step S404, which is not repeated here.

[0153] In step S605, the electronic rearview mirror control unit outputs corresponding display information to the display device according to the indication information.

[0154] The processing unit of the electronic rearview mirror control unit can perform step S605.

[0155] The display information can be displayed in the form of text, images, videos, or the like on the display device, which is not limited in the present application.

[0156] For example, the display information may, for example, be the position, type, etc. of the obstacle. For example, if the obstacle is a pedestrian on the left side of the vehicle, the display information may include an image on the left side of the vehicle in which the pedestrian as the obstacle is highlighted, and also include a text of the distance of the obstacle from the vehicle. After being output to the display device, a picture image on the left side of the vehicle in which the pedestrian as the obstacle is highlighted and the distance of the pedestrian from the vehicle is displayed in the form of text can be displayed on the display device on the left side inside the vehicle.

[0157] According to the embodiment of the present application, the first image data is sent to the domain controller for processing by the electronic rearview mirror control unit to obtain the indication information, so that the domain controller can use its computing power to calculate, so as to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0158] Figure 8 A structural diagram of an image processing apparatus according to an embodiment of the present application is shown. The apparatus is used in an electronic rearview mirror control unit, as shown in the figure, the apparatus includes: Figure 8

[0159] The first acquisition module 701 is configured to acquire first image data collected by one or more cameras from the one or more cameras;

[0160] The first sending module 702 is configured to send the first image data to the domain controller DC;

[0161] The first processing output module 703 is configured to process the first image data to obtain processed image data, and output the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0162] According to the embodiment of the present application, the image data collected by the camera is acquired by the electronic rearview mirror control unit, and the processed image data is output to the display device, so that the camera can be directly connected to the electronic rearview mirror control unit to realize the function of the electronic rearview mirror, without relying on the domain controller. When the domain controller fails, the function of the electronic rearview mirror can also be realized normally, ensuring the safety requirement of intelligent driving, and the electronic rearview mirror starts quickly and has small time delay in this case, improving the user experience. At the same time, by sending the first image data to the domain controller through the electronic rearview mirror control unit, the electronic rearview mirror and the domain controller can also share the image data collected by the camera, saving the cost and space deployment.

[0163] ​In a possible implementation, the electronic rearview mirror control unit comprises a deserializer and a processing unit, the deserializer is connected with the one or more cameras, acquires the first image data, and sends the first image data to the processing unit; the processing unit processes the first image data to obtain processed image data, and outputs the processed image data to a display device corresponding to the electronic rearview mirror control unit.

[0164] In this way, the electronic rearview mirror function can be independently implemented.

[0165] In a possible implementation, the apparatus further comprises a first receiving module configured to receive second image data sent by the domain controller, the second image data being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; and a second processing and output module configured to process the second image data to obtain processed image data, and output the processed image data to the display device.

[0166] According to the embodiments of the present application, the first image data is sent to the domain controller by the electronic rearview mirror control unit for processing to obtain second image data, so that the domain controller can use its computing power to calculate, to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0167] In a possible implementation, the first receiving module is configured to receive the second image data sent by the domain controller through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0168] In this way, the transmission efficiency of the electronic rearview mirror control unit in receiving the second image data can be higher.

[0169] In a possible implementation, the field of view range of the second image data corresponds to a vehicle driving scene.

[0170] In this way, the image information can be more refined, and the driving experience is better.

[0171] In a possible implementation, the field of view range of the second image data includes a 360-degree panoramic environment around the vehicle.

[0172] In this way, the field of view range of the image can be larger, and the driving experience is better.

[0173] In a possible implementation, the apparatus further includes a second receiving module configured to receive indication information sent by the domain controller, the indication information being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; and a third processing and outputting module configured to output corresponding display information to the display device according to the indication information.

[0174] According to the embodiment of the present application, the first image data is sent to the domain controller by the electronic rearview mirror control unit for processing to obtain indication information, so that the domain controller can use its computing power to perform calculation to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0175] In a possible implementation, the first sending module is configured to send the first image data to the domain controller by the deserializer.

[0176] Therefore, a manner of sending the first image data to the domain controller by the electronic rearview mirror control unit can be implemented, so that the domain controller can use its computing power to perform calculation to enhance the function of the electronic rearview mirror and improve the user experience.

[0177] In a possible implementation, the first sending module is configured to send the first image data to the domain controller by the processing unit.

[0178] Therefore, another manner of sending the first image data to the domain controller by the electronic rearview mirror control unit can be implemented, so that the domain controller can use its computing power to perform calculation to enhance the function of the electronic rearview mirror and improve the user experience.

[0179] In a possible implementation, the first sending module is configured to send the first image data to the domain controller by a low-voltage differential signal (LVDS) interface.

[0180] Therefore, the domain controller can use its computing power to perform calculation to enhance the function of the electronic rearview mirror and improve the user experience.

[0181] In a possible implementation, the one or more cameras include a first camera configured to capture an image of a left rear side of the vehicle, a second camera configured to capture an image of a right rear side of the vehicle, and a third camera configured to capture an image of a rear side of the vehicle, and the display device includes a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

[0182] Therefore, by using multiple cameras and display devices, the electronic rearview mirror function can be better implemented, and the user experience can be improved.

[0183] Figure 9 A structural diagram of an image processing apparatus according to an embodiment of the present application is shown. The apparatus is used in a domain controller DC, such as Figure 9 As shown, the apparatus includes:

[0184] The third receiving module 801 is configured to receive first image data sent by the electronic rearview mirror control unit, the first image data being image data collected by a camera and acquired by the electronic rearview mirror control unit, the first image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to a display device corresponding to the electronic rearview mirror control unit.

[0185] According to the embodiment of the present application, by receiving the first image data, which is image data collected by the camera and acquired by the electronic rearview mirror control unit, and by processing and outputting the image data to the display device, the camera can be directly connected to the electronic rearview mirror control unit to implement the electronic rearview mirror function, without relying on the domain controller. When the domain controller fails, the electronic rearview mirror function can also be normally implemented, ensuring the safety requirement of intelligent driving. In this case, the electronic rearview mirror starts quickly and has small time delay, improving the user experience. Meanwhile, by receiving the first image data sent by the electronic rearview mirror control unit, the image data collected by the camera can also be shared with the electronic rearview mirror, saving the cost and space deployment.

[0186] In a possible implementation, the apparatus further includes a second acquiring module configured to acquire sensor data collected by one or more sensors; a first determining module configured to determine second image data according to the first image data and / or the sensor data collected by the one or more sensors; and a second sending module configured to send the second image data to the electronic rearview mirror control unit, the second image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to the display device.

[0187] According to the embodiment of the present application, by acquiring the sensor data by the domain controller and by determining the second image data using the first image data and / or the sensor data, the domain controller can use its computing power to calculate to enhance the electronic rearview mirror function, further improving the safety and comfort in the driving process.

[0188] In a possible implementation, the second sending module is configured to send the second image data to the electronic rearview mirror control unit through a controller area network (CAN) interface or an Ethernet (ETH) interface.

[0189] In this way, the transmission efficiency of the domain controller when sending the second image data can be improved.

[0190] In a possible implementation, the field of view of the second image data corresponds to a vehicle driving scene.

[0191] In this way, the image information can be more refined, and the driving experience is better.

[0192] In a possible implementation, the field of view of the second image data includes a 360-degree panoramic environment around the vehicle.

[0193] In this way, the field of view of the image can be larger, and the driving experience is better.

[0194] In a possible implementation, the apparatus further includes a third obtaining module configured to obtain sensing data collected by one or more sensors; a second determining module configured to determine indication information according to the first image data and / or the sensing data collected by the one or more sensors; and a third sending module configured to send the indication information to the electronic rearview mirror control unit, where the indication information is used by the electronic rearview mirror control unit to output corresponding display information to the display device according to the indication information.

[0195] According to the embodiments of the present application, the domain controller obtains the sensing data, and determines the indication information by using the first image data and / or the sensing data, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and further improve the safety and comfort during driving.

[0196] In a possible implementation, the electronic rearview mirror control unit includes a deserializer, and the third receiving module is configured to receive the first image data sent by the deserializer.

[0197] In this way, a manner in which the domain controller receives the first image data is implemented, so that the domain controller can use its computing power to perform calculation, to enhance the function of the electronic rearview mirror, and improve the user experience.

[0198] In a possible implementation, the electronic rearview mirror control unit includes a processing unit, and the third receiving module is configured to receive the first image data sent by the processing unit.

[0199] This allows for an alternative way for the domain controller to receive the first image data, enabling the domain controller to utilize its computing power to perform calculations, thereby enhancing the functionality of the electronic rearview mirror and improving the user experience.

[0200] In one possible implementation, the third receiving module is configured to: receive the first image data sent by the electronic rearview mirror control unit via the Low Voltage Differential Signaling (LVDS) interface.

[0201] This allows the domain controller to utilize its computing power to perform calculations that enhance the functionality of the electronic rearview mirror and improve the user experience.

[0202] In one possible implementation, the one or more cameras include a first camera for capturing images of the left rear of the vehicle, a second camera for capturing images of the right rear of the vehicle, and a third camera for capturing images of the direct rear of the vehicle. The display device includes a first display device corresponding to the first camera for displaying the electronic rearview mirror image captured by the first camera; a second display device corresponding to the second camera for displaying the electronic rearview mirror image captured by the second camera; and a third display device corresponding to the third camera for displaying the electronic rearview mirror image captured by the third camera.

[0203] Therefore, by utilizing multiple cameras and display devices, the functions of electronic rearview mirrors can be better realized, enhancing the user experience.

[0204] Figure 10 A structural diagram of an electronic device 100 according to an embodiment of this application is shown. Figure 10 As shown, the electronic device 100 can be the aforementioned electronic rearview mirror control unit 101 or the aforementioned domain controller 102, performing the aforementioned... Figures 2-7 The electronic device 100 includes the functions of an electronic rearview mirror control unit or domain controller in any of the image processing methods shown. The electronic device 100 includes at least one processor 1801, at least one memory 1802, and at least one communication interface 1803. Furthermore, the electronic device may also include general-purpose components such as antennas, which will not be detailed here.

[0205] The following is combined Figure 10 The various components of the electronic device 100 will be described in detail.

[0206] The processor 1801 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling program execution of the above solutions. The processor 1801 can include one or more processing units, for example: the processor 110 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0207] The communication interface 1803 is configured to communicate with other electronic devices or communication networks, such as Ethernet, Radio Access Network (RAN), Core Network, Wireless Local Area Networks (WLAN), etc. For example, with reference to Figure 2 , the electronic device 100 is an electronic rearview mirror control unit 101, and the communication interface 1803 can be configured to communicate with the domain controller 102. For another example, the electronic device 100 is the domain controller 102, and the communication interface 1803 can be configured to communicate with the electronic rearview mirror control unit 101.

[0208] The memory 1802 can be read-only memory (ROM) or other type of static storage devices that can store static information and instructions, random access memory (RAM) or other type of dynamic storage device that can store information and instructions, electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), blu-ray discs and the like), magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory can exist in the form of standalone, connected to the processor through a bus, or integrated with the processor.

[0209] The memory 1802 is configured to store application program codes for implementing the above solutions, and the processor 1801 is configured to control the execution of the application program codes.

[0210] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0211] An embodiment of the present application provides an image processing apparatus, including a processor and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the above method.

[0212] An embodiment of the present application provides a non-volatile computer readable storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the above method.

[0213] An embodiment of the present application provides a terminal device, which can execute the above method.

[0214] An embodiment of the present application provides a computer program product, including computer readable code or a non-volatile computer readable storage medium carrying computer readable code, when the computer readable code is executed in a processor of an electronic device, the processor in the electronic device executes the above method.

[0215] Embodiments of the present application provide an electronic rearview mirror system, comprising: one or more cameras; a display device corresponding to the one or more cameras; and an electronic rearview mirror control unit, which can be configured to perform the above related methods.

[0216] Embodiments of the present application provide a vehicle, comprising: one or more cameras; a display device corresponding to the one or more cameras; an electronic rearview mirror control unit, which can be configured to perform the above related methods; a domain controller DC, which can be configured to perform the above related methods.

[0217] Embodiments of the present application provide a vehicle, comprising: the above electronic rearview mirror system; and a domain controller DC, which can be configured to perform the above related methods.

[0218] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital video disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, a magneto-optical or other optical device, a portable storage device, an on-board storage device, and / or any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se.

[0219] Computer readable program instructions or code described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0220] Computer readable program instructions for carrying out operations of the present application can be assembly instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on a user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0221] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0222] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or nonvolatile memory, or a suitable combination of the foregoing. Further, these computer readable program instructions can be downloaded as a computer program product over a network from a remote computer or a server, or from another computer readable medium.

[0223] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0224] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0225] It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented using hardware (such as circuits or ASICs (Application Specific Integrated Circuits)) that performs the corresponding function or action, or using a combination of hardware and software, such as firmware.

[0226] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, disclosure, and appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0227] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope of the described embodiments. Use of the terms "preferably," "preferred," "desired," etc., are intended to present a choice between one embodiment and another, and are not intended to limit the context in which the terms are used. The choice of terms is intended to best explain the principle, practical application or improvement over the technology in the field that the various embodiments are directed to, or to enable others skilled in the art to understand the various embodiments disclosed herein.

Claims

1. An image processing method, characterized by, The method is used for an electronic rearview mirror control unit, and the method comprises: obtaining first image data collected by one or more cameras; sending the first image data to a domain controller DC; processing the first image data to obtain processed image data, and outputting the processed image data to a display device corresponding to the electronic rearview mirror control unit; receiving second image data sent by the domain controller, the second image data being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; processing the second image data to obtain processed image data, and outputting the processed image data to the display device.

2. The method of claim 1, wherein, The receiving of the second image data sent by the domain controller comprises: receiving the second image data sent by the domain controller through a controller area network (CAN) interface or an Ethernet (ETH) interface.

3. The method of claim 2, wherein, The field of view of the second image data corresponds to a vehicle driving scene.

4. The method of claim 2, wherein, The field of view of the second image data comprises a 360-degree panoramic environment around the vehicle.

5. The method of claim 2, wherein, The method further comprises: receiving indication information sent by the domain controller, the indication information being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; outputting corresponding display information to the display device according to the indication information.

6. The method of claim 5, wherein, The electronic rearview mirror control unit comprises a deserializer and a processing unit, the deserializer is configured to be connected to the one or more cameras, to obtain the first image data, and to send the first image data to the processing unit; the processing unit is configured to process the first image data to obtain processed image data, and to output the processed image data to a display device corresponding to the electronic rearview mirror control unit.

7. The method of claim 6, wherein, The sending of the first image data to the domain controller DC comprises: the deserializer sends the first image data to the domain controller.

8. The method of claim 6, wherein, The sending of the first image data to the domain controller DC comprises: the processing unit sends the first image data to the domain controller.

9. The method of claim 6, wherein, The sending of the first image data to the domain controller DC comprises: the first image data is sent to the domain controller through a low-voltage differential signaling (LVDS) interface.

10. The method of any one of claims 1-9, wherein: the one or more cameras comprise a first camera configured to capture a left rear side of the vehicle, a second camera configured to capture a right rear side of the vehicle, and a third camera configured to capture a rear side of the vehicle, the display device comprises a first display device corresponding to the first camera and configured to display an electronic rearview mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic rearview mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic rearview mirror image captured by the third camera.

11. An image processing method, characterized by, The method is used for a domain controller DC, and the method comprises: receive first image data transmitted by an electronic mirror control unit, the first image data being acquired by the electronic mirror control unit from one or more cameras, the first image data being used by the electronic mirror control unit to process to obtain processed image data, the processed image data being used by the electronic mirror control unit to output to a display device corresponding to the electronic mirror control unit; acquire sensor data collected by one or more sensors; determine second image data according to the first image data, and / or the sensor data collected by the one or more sensors; transmit the second image data to the electronic mirror control unit, the second image data being used by the electronic mirror control unit to process to obtain processed image data, the processed image data being used by the electronic mirror control unit to output to the display device.

12. The method of claim 11, wherein, transmitting the second image data to the electronic mirror control unit includes: transmitting the second image data to the electronic mirror control unit through a controller area network (CAN) interface or an Ethernet (ETH) interface.

13. The method of claim 12, wherein, The field of view of the second image data corresponds to a vehicle driving scenario.

14. The method of claim 12, wherein, The field of view of the second image data includes a 360-degree panoramic environment around the vehicle.

15. The method of claim 12, wherein, The method further includes: acquiring sensor data collected by one or more sensors; determining indication information according to the first image data, and / or the sensor data collected by the one or more sensors; transmitting the indication information to the electronic mirror control unit, the indication information being used by the electronic mirror control unit to output corresponding display information to the display device.

16. The method of claim 15, wherein, The electronic mirror control unit includes a deserializer, and the receiving first image data transmitted by the electronic mirror control unit includes: receiving the first image data transmitted by the deserializer.

17. The method of claim 15, wherein, The electronic mirror control unit includes a processing unit, and the receiving first image data transmitted by the electronic mirror control unit includes: receiving the first image data transmitted by the processing unit.

18. The method of claim 15, wherein, The receiving first image data transmitted by the electronic mirror control unit includes: receiving the first image data transmitted by the electronic mirror control unit through a low-voltage differential signaling (LVDS) interface.

19. The method of any one of claims 11-18, wherein: the one or more cameras include a first camera configured to capture a left rear side of the vehicle, a second camera configured to capture a right rear side of the vehicle, and a third camera configured to capture a rear side of the vehicle, the display device includes a first display device corresponding to the first camera and configured to display an electronic mirror image captured by the first camera, a second display device corresponding to the second camera and configured to display an electronic mirror image captured by the second camera, and a third display device corresponding to the third camera and configured to display an electronic mirror image captured by the third camera.

20. An image processing apparatus characterized by comprising: The apparatus is configured to be used in an electronic mirror control unit, and the apparatus includes: The first obtaining module is configured to obtain first image data collected by one or more cameras from the one or more cameras; The first sending module is configured to send the first image data to a domain controller DC; The first processing and outputting module is configured to process the first image data to obtain processed image data, and output the processed image data to a display device corresponding to the electronic rearview mirror control unit; The first receiving module is configured to receive second image data sent by the domain controller, the second image data being determined by the domain controller according to the first image data and / or sensor data collected by one or more sensors; and the second processing and outputting module is configured to process the second image data to obtain processed image data, and output the processed image data to the display device.

21. An image processing apparatus characterized by comprising: The device is used for a domain controller DC, and the device comprises: The third receiving module is configured to receive first image data sent by an electronic rearview mirror control unit, the first image data being collected by one or more cameras and obtained by the electronic rearview mirror control unit from the one or more cameras, the first image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to a display device corresponding to the electronic rearview mirror control unit; Obtaining sensor data collected by one or more sensors, determining second image data according to the first image data and / or the sensor data collected by the one or more sensors, and sending the second image data to the electronic rearview mirror control unit, the second image data being used for being processed by the electronic rearview mirror control unit to obtain processed image data, and the processed image data being used for being output by the electronic rearview mirror control unit to the display device.

22. An image processing apparatus characterized by comprising: Comprise: A processor; A memory for storing processor-executable instructions; When the processor is configured to execute the instructions, the method in any one of claims 1-10 is implemented, or the method in any one of claims 11-19 is implemented.

23. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein, The computer program instructions are executed by the processor to implement the method in any one of claims 1-10, or the method in any one of claims 11-19.

24. A computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, when the computer readable code is run in an electronic device, a processor in the electronic device executes the method in any one of claims 1-10, or the method in any one of claims 11-19.

25. An electronic rearview mirror system, comprising: One or more cameras; A display device corresponding to the one or more cameras; And an electronic rearview mirror control unit, the electronic rearview mirror control unit is used for executing the method in any one of claims 1-10.

26. A vehicle characterized by Comprise: One or more cameras; A display device corresponding to the one or more cameras; An electronic rearview mirror control unit for performing the method according to any one of claims 1-10; A domain controller DC for performing the method according to any one of claims 11-19.

27. A vehicle characterized by Comprising: An electronic rearview mirror system according to claim 25; And A domain controller DC for performing the method according to any one of claims 11-19.

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