Commercial vehicle panoramic surround view system and arrangement method

Abstract

The application discloses a commercial vehicle panoramic surround view system and arrangement method, the system comprises: an ADCU intelligent driving domain controller and a CDCU cabin domain controller arranged on a tractor, a first camera module arranged on the tractor, and a second camera module arranged on a trailer, the first camera module and the second camera module are used for a whole vehicle surround view 360 system and an intelligent driving system, the first camera module and the second camera module are connected with the ADCU intelligent driving domain controller respectively, the ADCU intelligent driving domain controller transmits video data to the CDCU cabin domain controller by being connected with the CDCU cabin domain controller. The application meets the transmission distance protocol requirement, realizes the functional integration of the whole vehicle surround view 360 system and the intelligent driving system of the commercial vehicle, reduces the sensing blind area, increases the whole vehicle safety, and reduces hardware resources and cost; meanwhile, the camera module has high integration degree and meets the front-mounted mass production requirement.

Description

Technical Field

[0001] This application relates to the field of vehicle surround view systems, specifically to a panoramic surround view system for commercial vehicles and its layout method. Background Technology

[0002] Currently, the layout of 360° surround view systems for commercial vehicles adopts a similar surround view solution to that of passenger cars, placing cameras around the tractor and using either the FPDLINK (High-Speed ​​Digital Video Interface) protocol defined by TI or the GMSL (Gigabit Multimedia Serial Link) protocol defined by Maxim Integrated. Both protocols require camera modules with a cable length of no more than 15 meters.

[0003] However, applying the aforementioned 360° surround-view solution for passenger vehicles to commercial vehicles presents several challenges. Due to the long length of commercial vehicles, covering a 360° area around the truck requires numerous surround-view cameras. If the cable length from the camera on the rear trailer to the in-vehicle controller exceeds 15 meters, it fails to meet the standards of the aforementioned protocol. Furthermore, if cameras are only placed in the tractor unit, the external environment behind the trailer cannot be perceived. Additionally, when the tractor unit turns, the angular rotation and shift between the tractor and trailer increase blind spots, compromising overall vehicle safety. Moreover, existing cameras dedicated to 360° surround-view systems are functionally limited and poorly integrated, failing to meet the video acquisition needs of intelligent driving systems (assisted driving systems or autonomous driving systems), necessitating additional cameras and increasing hardware resources and costs. Summary of the Invention

[0004] In view of the above problems, this application is made to provide a panoramic surround view system and its arrangement method for commercial vehicles, so as to achieve the technical effects of integrating the functions of the 360° surround view system and the intelligent driving system of commercial vehicles while meeting the relevant protocol transmission distance, thereby reducing blind spots, increasing vehicle safety, and reducing hardware resources and costs.

[0005] According to a first aspect of this application, a panoramic surround view system for commercial vehicles is provided, applicable to commercial vehicles including at least a tractor and a trailer. The panoramic surround view system includes: an ADCU (Advanced Driver Controller Unit) and a CDCU (Cockpit Controller Unit) mounted on the tractor; a first camera module mounted on the tractor; and a second camera module mounted on the trailer. The monitoring areas of the first and second camera modules include the coverage area of ​​a 360° surround view system for the entire vehicle. The first camera module and / or the second camera module can be used in a commercial vehicle intelligent driving system.

[0006] When the first camera module and / or the second camera module are used in the intelligent driving system of the commercial vehicle, the first camera module and the second camera module are respectively connected to the ADCU intelligent driving domain controller. The ADCU intelligent driving domain controller is used to control the synchronous acquisition of video data by the first camera module and the second camera module and to process the acquired video data.

[0007] When the first camera module and / or the second camera module are used in the vehicle surround 360° system

[0008] The ADCU intelligent driving domain controller is connected to the CDCU cockpit domain controller and transmits the processed video data to the CDCU cockpit domain controller for video data decoding.

[0009] Optionally, the first camera module includes a camera supporting the GMSL protocol, and the second camera module includes an AHD analog high-definition camera.

[0010] When the commercial vehicle is not equipped with a trailer, N cameras supporting the GMSL protocol are used for surround view perception.

[0011] When a commercial vehicle is equipped with a trailer, N-1 cameras supporting the GMSL protocol are used in conjunction with M AHD analog high-definition cameras for surround view perception, where N and M are the number of available cameras, and M>N.

[0012] Optionally, the ADCU intelligent driving domain controller includes at least: an ADCU main control chip, a first GMSL deserializer, an ADC video analog-to-digital converter chip, and a first GMSL serializer.

[0013] Both the first GMSL deserializer and the ADC video analog-to-digital converter chip are connected to the ADCU main control chip, and the ADCU main control chip is connected to the first GMSL serializer.

[0014] The camera supporting the GMSL protocol is connected to the first GMSL deserializer, and the first GMSL deserializer converts the video data from GMSL signals into MIPI signals.

[0015] The AHD analog high-definition camera is connected to the ADC video analog-to-digital converter chip, and the ADC video analog-to-digital converter chip converts the video data from AHD analog signals to MIPI signals.

[0016] Optionally, the CDCU cockpit domain controller includes at least: a CDCU main control chip, a second GMSL deserializer, and a second GMSL serializer.

[0017] The first GMSL serializer is connected to the second GMSL deserializer, the second GMSL deserializer is connected to the CDCU main control chip, and the CDCU main control chip is connected to the second GMSL serializer.

[0018] Optionally, the commercial vehicle panoramic surround view system further includes a display screen, and the second GMSL serializer is connected to the display screen.

[0019] Optionally, both the first camera module and the second camera module include multiple cameras, and the cameras in the first camera module and the second camera module are ultra-wide-angle fisheye lenses.

[0020] According to a second aspect of this application, a method for arranging a panoramic surround view system for commercial vehicles is provided, applicable to the camera arrangement of the panoramic surround view system for commercial vehicles, the method comprising:

[0021] The first camera module of the commercial vehicle panoramic surround view system is placed on the tractor, and the second camera module of the commercial vehicle panoramic surround view system is placed on the trailer.

[0022] The first camera module and the second camera module are connected to the ADCU intelligent driving domain controller through transmission cables of different lengths, wherein the length of the transmission cable of the first camera module is controlled within 15 meters.

[0023] Connect the ADCU intelligent driving domain controller to the CDCU cockpit domain controller.

[0024] Optionally, multiple cameras in the first camera module are arranged on the outside of the tractor, and the multiple cameras in the first camera module are evenly or non-evenly arranged around the tractor.

[0025] Multiple cameras in the second camera module are arranged on the outside of the trailer, and the multiple cameras in the second camera module are evenly or non-evenly arranged on the left and right sides and the rear of the trailer.

[0026] Specifically, when the tractor unit tows the trailer, the camera in the first camera module that is close to the front of the trailer is disabled, and the field of view (FOV) between the first camera module and the second camera module is reduced.

[0027] Optionally, the tractor unit is equipped with a first connector, and the trailer is equipped with a second connector.

[0028] Electrically connect each of the N cameras in the first camera module to the GMSL video transmission interface on the ADCU intelligent driving domain controller, and electrically connect the AHD video transmission interface on the ADCU intelligent driving domain controller to the first connector.

[0029] Furthermore, the first connector and the second connector are electrically connected by a spring wire, and the M cameras in the second camera module are electrically connected to the second connector respectively.

[0030] Optionally, the N cameras in the first camera module are electrically connected to the ADCU intelligent driving domain controller via a coaxial cable or a twisted pair cable, and the M cameras in the second camera module are electrically connected to the second connector via a coaxial cable or a regular single cable.

[0031] As can be seen from the above, the above-mentioned at least one technical solution adopted in the embodiments of this application can achieve the following beneficial effects: On the one hand, a panoramic surround view system for commercial vehicles is provided. By using the GMSL camera in the first camera module and the AHD camera in the second camera module in combination, the length requirements of the transmission cable in the relevant protocol are met and the problem of low camera resolution is solved. By connecting the surround view camera to the ADCU intelligent driving domain controller, not only is the function integration of the 360° surround view system of the commercial vehicle and the intelligent driving system realized, but also the synchronous exposure of all surround view cameras can be achieved, with high integration and meeting the requirements of pre-installed mass production. On the other hand, a method for arranging a panoramic surround view system for commercial vehicles is provided. By arranging GMSL cameras and AHD cameras at different positions on the tractor and trailer respectively, the panoramic surround view application of the whole vehicle is realized. Even in scenarios such as vehicle turning, the surround view effect is still maintained, reducing blind spots and increasing vehicle safety. At the same time, by reusing the unmanned camera in the tractor, the number of cameras is reduced, which is conducive to reducing hardware resources and costs.

[0032] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a commercial vehicle panoramic surround view system in one embodiment of this application;

[0035] Figure 2 This is a flowchart illustrating the arrangement method of a panoramic surround view system for commercial vehicles in one embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the camera arrangement of a commercial vehicle panoramic surround view system in one embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the field of view area of ​​a commercial vehicle panoramic surround view system in one embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the wiring connection of a commercial vehicle panoramic surround view system in one embodiment of this application.

[0039] In the diagram: 100, First camera module; 200, Second camera module; 300, ADCU intelligent driving domain controller; 310, ADCU main control chip (SOC); 320, First GMSL deserializer; 330, ADC video analog-to-digital converter chip; 340, First GMSL serializer; 400, CDCU cockpit domain controller; 410, CDCU main control chip (SOC); 420, Second GMSL deserializer; 430, Second GMSL serializer; 500, Display screen;

[0040] N1, N2, N3, and N4 represent multiple GMSL cameras in the first camera module; M1, M2, M3, M4, and M5 represent multiple AHD cameras in the second camera module; W1 represents the first connector; and W2 represents the second connector. Detailed Implementation

[0041] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0042] As mentioned earlier, existing 360° surround-view solutions for passenger vehicles are unsuitable for commercial vehicles due to issues such as inability to meet relevant protocol standards, large blind spots, low overall vehicle safety, limited camera functionality and low integration, resulting in wasted hardware resources and costs. Therefore, this application provides a panoramic surround-view system and its deployment method for commercial vehicles. This system achieves functional integration of the 360° surround-view system and intelligent driving system while meeting relevant protocol transmission distance requirements, thereby reducing blind spots, increasing overall vehicle safety, and lowering hardware resources and costs.

[0043] The technical concept of this application is as follows: On the one hand, it provides a panoramic surround-view system for commercial vehicles. By using a hybrid approach of GMSL cameras in the first camera module and AHD cameras in the second camera module, it meets the requirements for transmission cable length in relevant protocols and solves the problem of low camera resolution. By connecting the surround-view cameras to the ADCU intelligent driving domain controller, it achieves functional integration of the 360° surround-view system and the intelligent driving system of the commercial vehicle, enabling all surround-view cameras to be exposed synchronously, achieving high integration, and meeting the requirements of pre-installed mass production. On the other hand, it provides a method for arranging the panoramic surround-view system for commercial vehicles. By arranging GMSL cameras and AHD cameras at different positions on the tractor and trailer respectively, it achieves a panoramic surround-view application for the entire vehicle. Even in scenarios such as vehicle turning, it maintains the surround-view effect, thereby reducing blind spots and increasing vehicle safety. For vehicles with L2 or higher intelligent driving systems, by reusing the autonomous driving camera in the tractor, the number of cameras is reduced, which helps to reduce hardware resources and costs.

[0044] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0045] In one embodiment of this application, such as Figure 1 As shown, a panoramic surround view system for commercial vehicles is proposed, applicable to commercial vehicles including at least a tractor and a trailer. The system comprises: an ADCU (Automated Driving Control Unit) 300 and a CDCU (Cockpit Domain Control Unit, also known as an entertainment domain controller) mounted on the tractor; a first camera module 100 mounted on the tractor; and a second camera module 200 mounted on the trailer. The monitoring areas of the first camera module 100 and the second camera module 200 include the coverage area of ​​the 360° surround view system. The first camera module 100 and / or the second camera module 200 can be used in a commercial vehicle intelligent driving system.

[0046] When the first camera module 100 and / or the second camera module 200 are used in the intelligent driving system of the commercial vehicle, the first camera module 100 and the second camera module 200 are respectively connected to the ADCU intelligent driving domain controller 300. The ADCU intelligent driving domain controller 300 is used to control the synchronous acquisition of the first camera module 100 and the second camera module 200 and to process the acquired video data.

[0047] When the first camera module 100 and / or the second camera module 200 are used in the 360° surround view system for the whole vehicle, the ADCU intelligent driving domain controller 300 connects to the CDCU cockpit domain controller 400 (at this time, the first camera module 100 and the second camera module 200 are also connected to the ADCU intelligent driving domain controller 300) and transmits the processed video data to the CDCU cockpit domain controller 400 for video data decoding.

[0048] It is understandable that a vehicle's intelligent driving system can be divided into several functional blocks, and the system architecture within each functional block is primarily built by a domain controller. Currently, the "domain" of a domain controller generally refers to a functional domain, which, according to the classification method in this application, can be at least divided into intelligent driving domain, body domain, cockpit domain, and powertrain domain.

[0049] Therefore, the panoramic surround view system for commercial vehicles described in this embodiment conforms to the mainstream pre-installed mass production solution that divides the vehicle architecture by functional domains. Among them, the ADCU intelligent driving domain controller refers to the domain controller of ADAS (Advanced Driving Assistance System) or autonomous driving system, which can assist driving or drive independently depending on the level of autonomous driving; while the CDCU cockpit domain controller is responsible for the entertainment control in the cockpit.

[0050] As can be seen from the above, the first camera module 100 installed on the tractor and the second camera module 200 installed on the trailer can collect surround-view video data. When the ADCU intelligent driving domain controller 300 receives the video data, it will perform video processing operations such as stitching and rendering. On the one hand, the video data can be used in the commercial vehicle intelligent driving system (including assisted driving or unmanned driving system). At the same time, combined with environmental data inside and outside the vehicle, map data and other information, the ADCU intelligent driving domain controller performs calculations and analysis to realize the prediction and intelligent control of the vehicle's operating status. On the other hand, the video data can be used in the whole vehicle surround-view 360° system. In this case, the ADCU intelligent driving domain controller sends the processed video data to the CDCU cockpit domain controller, which controls the screen to display it in full screen or split screen, so that the driver can observe the panoramic image around the commercial vehicle in real time.

[0051] Therefore, the embodiments of this application not only simplify the system design and eliminate the separate 360° surround view processing module, but also realize the functional integration of the whole vehicle surround view 360° system and intelligent driving system of commercial vehicles, so that all cameras on the tractor and trailer can be exposed simultaneously and synchronously, with high integration and meeting the requirements of pre-installed mass production.

[0052] Furthermore, such as Figure 1 and Figure 3 As shown, the first camera module 100 includes a camera supporting the GMSL protocol (GMSL camera), and the second camera module 200 includes an AHD analog high-definition camera (AHD camera). Specifically, it can be divided into two cases: with a trailer and without a trailer. When the commercial vehicle is without a trailer, N cameras supporting the GMSL protocol are used for surround view perception. When the commercial vehicle is with a trailer, N-1 cameras supporting the GMSL protocol are used in conjunction with M AHD analog high-definition cameras for surround view perception. N and M are the number of available cameras, and M>N.

[0053] Specifically, Figure 3 In this embodiment, N1, N2, N3, and N4 represent multiple GMSL cameras (i.e., cameras supporting the GMSL protocol) in the first camera module; M1, M2, M3, M4, and M5 represent multiple AHD cameras (i.e., AHD analog high-definition cameras) in the second camera module. In this implementation, four GMSL cameras are arranged in the front, rear, left, and right directions of the tractor unit; five AHD cameras are arranged in the left, right, and rear directions of the trailer.

[0054] It can be understood that a GMSL camera is a camera with a GMSL interface and supports the GMSL protocol. GMSL (Gigabit Multimedia Serial Link) is a high-speed serial interface defined by Maxim Integrated, which requires a cable length of less than 15 meters and is suitable for the transmission of video, audio and control signals; while an AHD camera is an analog high-definition camera, which transmits high-definition analog signals.

[0055] Depending on the length of the transmission cable and its installation location, the two different types of cameras mentioned above can be used. Since the transmission cable inside the tractor unit is less than 15 meters, a camera supporting the GMSL protocol is used (preferably a GMSL camera with at least 8 megapixels). However, the cable length from the camera to the domain controller inside the tractor unit in the trailer is often greater than 15 meters, so an AHD camera (not limited by transmission distance) is used. This hybrid application of the two types of cameras solves the transmission distance limitation problem while avoiding the low resolution and unclear perception issues that result from using only AHD cameras.

[0056] It is worth noting that the first camera module mounted on the tractor unit can simultaneously meet the application requirements of intelligent driving and 360° surround view. In this embodiment, some cameras originally used for intelligent driving data acquisition in existing designs (which require high resolution, with pixel values ​​above 8 megapixels) can be reused as 360° surround view cameras. Since all cameras are connected to the main control chip of the ADCU intelligent driving domain controller, the data processing can be performed by the ADCU main control chip (SOC) to meet the application requirements of 360° surround view and intelligent driving algorithm perception. This reduces the total number of cameras and eliminates the need for a separate 360° surround view processing module, thereby reducing costs and simplifying system design.

[0057] Furthermore, referring to Figure 1 As shown, the ADCU intelligent driving domain controller 300 includes at least: an ADCU main control chip 310, a first GMSL deserializer 320, an ADC video analog-to-digital converter chip 330, and a first GMSL serializer 340. The first GMSL deserializer 320 and the ADC video analog-to-digital converter chip 330 are both connected to the ADCU main control chip 310, and the ADCU main control chip 310 is connected to the first GMSL serializer 340.

[0058] The camera supporting the GMSL protocol is connected to the first GMSL deserializer 320, which converts the video data from GMSL signals to MIPI signals. The AHD analog high-definition camera is connected to the ADC video analog-to-digital converter chip 330, which converts the video data from AHD analog signals to MIPI signals. MIPI (Mobile Industry Processor Interface) uses differential signal transmission, which can employ low-amplitude signal swing in high-speed data transmission mode. In this embodiment, for the GMSL camera (which has a serializer installed internally), the first GMSL deserializer 320 in the ADCU intelligent driving domain controller 300 can be used to convert the video data from GMSL signal to MIPI signal, and then input to the ADCU main control chip 310 (SOC chip, i.e., central processing unit) for processing; for the AHD camera, the ADC video analog-to-digital converter chip 330 set in the ADCU intelligent driving domain controller 300 can be used for sampling and convert the video analog signal to MIPI signal, and then input to the ADCU main control chip 310.

[0059] In one embodiment of this application, such as Figure 1 As shown, the CDCU cockpit domain controller 400 includes at least: a CDCU main control chip 410, a second GMSL deserializer 420, and a second GMSL serializer 430. The first GMSL serializer 340 is connected to the second GMSL deserializer 420, the second GMSL deserializer 420 is connected to the CDCU main control chip 410, and the CDCU main control chip 410 is connected to the second GMSL serializer 430.

[0060] Furthermore, the commercial vehicle panoramic surround view system also includes a display screen 500, and the second GMSL serializer 430 is connected to the display screen 500.

[0061] As can be understood, the characteristic of GMSL technology is to convert parallel data into serial data for transmission, and then decode the serial data back into parallel data at the receiving end, thereby achieving high-speed, long-distance transmission.

[0062] Therefore, the video data transmission path in this embodiment is as follows:

[0063] First, panoramic surround view shooting is performed by the GMSL camera in the first camera module 100 and the AHD camera in the second camera module 200. Then, the captured video data is transmitted to the first GMSL deserializer 320 and the ADC video analog-to-digital converter chip 330 in the ADCU intelligent driving domain controller 300 for signal conversion.

[0064] Secondly, the video MIPI signal is sent to the ADCU main control chip 310. All video data processed by the ADCU main control chip 310 needs to be converted from parallel data to serial data through the first GMSL serializer 340 and sent to the CDCU cockpit domain controller 400.

[0065] Next, after the serial data is deserialized and converted into parallel data by the second GMSL deserializer 420, image stitching and other processing operations are performed by the CDCU main control chip 410.

[0066] Finally, the processed parallel data is converted into serial data by the second GMSL serializer 430, and then transmitted to the display screen 500 for display.

[0067] Therefore, since all cameras on the tractor and trailer are uniformly connected to the ADCU intelligent driving domain controller 300, the ADCU main control chip 310 can uniformly realize the synchronous exposure of all cameras (the 360° surround view images are acquired at the same time); at the same time, the algorithm software embedded in the ADCU main control chip 310 can be used to process video data, thereby meeting the application requirements of the overall 360° surround view system and intelligent driving system (assisted driving or autonomous driving) algorithm perception.

[0068] Preferably, in order to ensure that the monitoring areas of the first camera module and the second camera module can cover the surround view area of ​​the 360° surround view system of the whole vehicle, the first camera module and the second camera module in this application embodiment should each include multiple cameras. The cameras in the first camera module and the second camera module should have a wide field of view (FOV), for example, an ultra-wide-angle fisheye lens can be used to expand the perception range of the field of view.

[0069] Furthermore, the GMSL deserializer, GMSL serializer, ADC video analog-to-digital converter chip and their connection to the domain controller, as well as the software content embedded in the SOC chip, can be configured by those skilled in the art in combination with specific application scenarios and conventional technical means.

[0070] In the embodiments of this application, such as Figure 2As shown, a method for arranging cameras in a commercial vehicle panoramic surround view system is also proposed, which is applied to the camera arrangement of the commercial vehicle panoramic surround view system. The arrangement method includes:

[0071] Step S1: Place the first camera module of the commercial vehicle panoramic surround view system on the tractor and place the second camera module of the commercial vehicle panoramic surround view system on the trailer.

[0072] Step S2: Connect the first camera module and the second camera module to the ADCU intelligent driving domain controller respectively through transmission cables of different lengths, wherein the length of the transmission cable of the first camera module is controlled within 15 meters.

[0073] Step S3: Connect the ADCU intelligent driving domain controller to the CDCU cockpit domain controller.

[0074] Preferably, multiple cameras in the first camera module are arranged on the outside of the tractor, and the multiple cameras in the first camera module are evenly or non-evenly distributed around the tractor; multiple cameras in the second camera module are arranged on the outside of the trailer, and the multiple cameras in the second camera module are evenly or non-evenly distributed on the left and right sides and rear of the trailer; specifically, as... Figure 3 As shown, GMSL cameras N1 and N3 are respectively arranged on the left and right sides of the tractor, and GMSL cameras N2 and N4 are respectively arranged on the front and rear sides of the tractor. When there is no trailer, the four GMSL cameras are responsible for 360° surround view perception in four directions: front, rear, left, and right.

[0075] AHD cameras M1 and M2, and AHD cameras M4 and M5 are respectively positioned on the left and right sides of the trailer, while AHD camera M3 is positioned at the rear of the trailer. When the tractor unit tows the trailer, the GMSL camera N2, located near the front of the trailer in the first camera module, is blocked by the trailer. Therefore, GMSL camera N2 at that location can be disabled. In this case, GMSL cameras N1, N3, and N4, along with AHD cameras M1, M2, M3, M4, and M5, jointly provide 360° surround-view perception of the tractor unit and trailer. Furthermore, in this configuration, the field of view (FOV) between the first and second camera modules can be appropriately reduced and adjusted to allow for better coordination between them.

[0076] It's worth noting that the number of cameras installed on the trailer can be increased or decreased depending on its length. Of course, Figure 3The number, positional relationship, and orientation of the cameras shown are for simplification only and should not be considered as limitations on this application. N1, N2, N3, and N4 represent the number of GMSL cameras and do not imply that they have identical models, pixel counts, or shooting parameters. Similarly, M1, M2, M3, M4, and M5 represent the number of AHD cameras and do not imply that they have identical models, pixel counts, or shooting parameters. This application does not impose any limitations on the specific models, pixel counts, or parameters of the aforementioned cameras.

[0077] In this embodiment of the application, when a commercial vehicle turns, because the tractor and trailer are not rigidly connected, there will be a certain degree of angular rotational offset. For example... Figure 4 As shown in the figure, the shaded area represents the blind spot (small area) caused by the camera's FOV design. The area outside the shadow formed by the two dashed lines between adjacent cameras is the camera's field of view. It can be seen from the figure that through the effective cooperation between the first and second camera modules, the monitoring area of ​​this application can achieve a 360° surround view of the entire vehicle. Furthermore, by using a lens with a wider FOV (approaching or exceeding 180°), the blind spot can be further reduced, thereby increasing driving safety.

[0078] Preferably, considering applications in low-light scenarios such as early morning and evening, the GMSL camera in the first camera module and the AHD camera in the second camera module can be selected as starlight-level cameras (such as dome cameras, bullet cameras, etc.). Therefore, in starlight environments, clear color images can be captured even without any auxiliary light source.

[0079] Furthermore, considering the needs of mass production pre-installation, this application embodiment includes a camera system for both the tractor and trailer. For example... Figure 5 As shown, the tractor is equipped with a first connector W1, and the trailer is equipped with a second connector W2. The N cameras (such as N1, N2, N3, N4, etc.) in the first camera module are electrically connected to the GMSL video transmission interface on the ADCU intelligent driving domain controller, the AHD video transmission interface on the ADCU intelligent driving domain controller is electrically connected to the first connector W1, and the first connector W1 and the second connector W2 are electrically connected by a spring wire. The M cameras (such as M1, M2, M3, M4, M5, etc.) in the second camera module are electrically connected to the second connector W2.

[0080] In this embodiment, the first connector, the second connector, and the video transmission interface on the ADCU intelligent driving domain controller all adopt waterproof aviation connectors. Furthermore, the type of the video transmission interface must meet the relevant protocols described above (such as GMSL interface protocol, AHD interface protocol, etc.), and the specific number of interfaces depends on the number of cameras. Of course, the above description is merely illustrative and should not be construed as limiting this application.

[0081] Preferably, the N cameras in the first camera module are electrically connected to the ADCU intelligent driving domain controller via a coaxial cable or a twisted pair cable, such as a 50Ω coaxial cable or a 100Ω shielded twisted pair cable; and the M cameras in the second camera module are electrically connected to the second connector via a coaxial cable or a regular single cable.

[0082] In summary, the technical solution of this application achieves at least the following technical effects:

[0083] On the one hand, a panoramic surround view system for commercial vehicles is provided. By using a hybrid approach of GMSL cameras in the first camera module and AHD cameras in the second camera module, the system meets the requirements for transmission cable length in relevant protocols and solves the problem of low camera resolution. By connecting the surround view cameras to the ADCU intelligent driving domain controller, it not only achieves the functional integration of the 360° surround view system and intelligent driving system for commercial vehicles, but also enables synchronous exposure of all surround view cameras, achieving high integration and meeting the requirements for pre-installed mass production. On the other hand, a method for arranging the panoramic surround view system for commercial vehicles is provided. By arranging GMSL cameras and AHD cameras at different positions on the tractor and trailer respectively, a panoramic surround view application for the entire vehicle is achieved. The surround view effect is maintained even in scenarios such as vehicle turning, reducing blind spots and increasing vehicle safety. At the same time, by reusing the autonomous driving camera in the tractor, the number of cameras is reduced, which helps to reduce hardware resources and costs.

[0084] It should be noted that:

[0085] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0086] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0087] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0088] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination. It should be noted that the above embodiments are illustrative of this application and not limiting of it, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer.

[0089] The use of words such as first, second, and third does not indicate any order. These words can be interpreted as names.

Claims

1. A panoramic surround view system for commercial vehicles, characterized in that, The panoramic surround view system for commercial vehicles, including at least a tractor unit and a trailer, comprises: an ADCU intelligent driving domain controller and a CDCU cockpit domain controller mounted on the tractor unit; a first camera module mounted on the tractor unit; and a second camera module mounted on the trailer unit. The monitoring areas of the first and second camera modules include the coverage area of ​​the 360° surround view system for the entire vehicle. The first camera module and / or the second camera module can be used in the intelligent driving system of the commercial vehicle. When the first camera module and / or the second camera module are used in the intelligent driving system of the commercial vehicle, the first camera module and the second camera module are respectively connected to the ADCU intelligent driving domain controller. The ADCU intelligent driving domain controller is used to control the synchronous acquisition of video data by the first camera module and the second camera module and to process the acquired video data. When the first camera module and / or the second camera module are used in the 360° surround view system of the vehicle, the ADCU intelligent driving domain controller is connected to the CDCU cockpit domain controller and transmits the processed video data to the CDCU cockpit domain controller for video data decoding; Multiple cameras in the first camera module are arranged on the outside of the tractor, and the multiple cameras in the first camera module are evenly or non-evenly arranged around the tractor. The multiple cameras in the second camera module are arranged on the outside of the trailer, and the multiple cameras in the second camera module are evenly or non-evenly arranged on the left and right sides and the rear of the trailer. Specifically, when the tractor unit tows the trailer, the camera in the first camera module that is close to the front of the trailer is disabled, and the field of view (FOV) between the first camera module and the second camera module is reduced. The first camera module includes a camera supporting the GMSL protocol, and the second camera module includes an AHD analog high-definition camera. When the commercial vehicle is not equipped with a trailer, N cameras supporting the GMSL protocol are used for surround view perception. When a commercial vehicle is equipped with a trailer, N-1 cameras supporting the GMSL protocol are used in conjunction with M AHD analog high-definition cameras for surround view perception, where N and M are the number of available cameras, and M>N.

2. The commercial vehicle panoramic surround view system according to claim 1, characterized in that, The ADCU intelligent driving domain controller includes at least: an ADCU main control chip, a first GMSL deserializer, an ADC video analog-to-digital converter chip, and a first GMSL serializer. Both the first GMSL deserializer and the ADC video analog-to-digital converter chip are connected to the ADCU main control chip, and the ADCU main control chip is connected to the first GMSL serializer. The camera supporting the GMSL protocol is connected to the first GMSL deserializer, and the first GMSL deserializer converts the video data from GMSL signals into MIPI signals. The AHD analog high-definition camera is connected to the ADC video analog-to-digital converter chip, and the ADC video analog-to-digital converter chip converts the video data from AHD analog signals to MIPI signals.

3. The commercial vehicle panoramic surround view system according to claim 2, characterized in that, The CDCU cockpit domain controller includes at least: a CDCU main control chip, a second GMSL deserializer, and a second GMSL serializer. The first GMSL serializer is connected to the second GMSL deserializer, the second GMSL deserializer is connected to the CDCU main control chip, and the CDCU main control chip is connected to the second GMSL serializer.

4. The commercial vehicle panoramic surround view system according to claim 3, characterized in that, The commercial vehicle panoramic surround view system also includes a display screen, and the second GMSL serializer is connected to the display screen.

5. The commercial vehicle panoramic surround view system according to claim 1, characterized in that, Both the first camera module and the second camera module include multiple cameras, and the cameras in the first camera module and the second camera module are ultra-wide-angle fisheye lenses.

6. A method for arranging a panoramic surround view system for commercial vehicles according to any one of claims 1 to 5, the method comprising: The first camera module of the commercial vehicle panoramic surround view system is placed on the tractor, and the second camera module of the commercial vehicle panoramic surround view system is placed on the trailer. The first camera module and the second camera module are connected to the ADCU intelligent driving domain controller through transmission cables of different lengths, wherein the length of the transmission cable of the first camera module is controlled within 15 meters. Connect the ADCU intelligent driving domain controller to the CDCU cockpit domain controller.

7. The arrangement method of the commercial vehicle panoramic surround view system according to claim 6, characterized in that, The tractor unit is equipped with a first connector, and the trailer is equipped with a second connector. Electrically connect each of the N cameras in the first camera module to the GMSL video transmission interface on the ADCU intelligent driving domain controller, and electrically connect the AHD video transmission interface on the ADCU intelligent driving domain controller to the first connector. Furthermore, the first connector and the second connector are electrically connected by a spring wire, and the M cameras in the second camera module are electrically connected to the second connector respectively.

8. The arrangement method of the commercial vehicle panoramic surround view system according to claim 6, characterized in that, The N cameras in the first camera module are electrically connected to the ADCU intelligent driving domain controller via coaxial cables or twisted-pair cables, and the M cameras in the second camera module are electrically connected to the second connector via coaxial cables or ordinary single cables.

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