Data processing method, device, vehicle, medium and program product

Abstract

The present disclosure relates to the field of vehicle technology, and in particular to a data processing method, device, vehicle, medium and program product. The method comprises: obtaining a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data; parsing the data packet to obtain a parsing field including the target image data, wherein the order of the target image data included in the parsing field is the same as the original order; and restoring the parsing field to obtain the target image data. In this way, there is no need to perform ISP processing on the image data, the image data is not modified, and the consistency of the image data before and after processing is ensured, meeting the requirements of simulating real scenes.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a data processing method, device, vehicle, medium and program product. Background Art

[0002] In the process of providing various functions, electronic devices inevitably acquire, call, process or store data. Data re-injection can be understood as retransmitting data that has been acquired or called by at least one data processing module to the data processing module for processing. For example, in the process of autonomous driving simulation, data closure is crucial to the iterative development of autonomous driving functions, and data re-injection is a key link in the simulation process. During the data re-injection process, the data needs to be processed before it can be injected into the algorithm module for simulation calculation. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a data processing method, device, vehicle, medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a data processing method, including:

[0005] Acquire a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data;

[0006] Parsing the data packet to obtain a parsed field including the target image data, wherein the order of the target image data included in the parsed field is the same as the original order;

[0007] The target image data is obtained by performing restoration processing on the parsed field.

[0008] Optionally, the target image data includes a plurality of data units, each of the data units includes image data of a first number of pixels, and the first number is an integer greater than or equal to 1;

[0009] The data packet includes a plurality of first byte units, each of the first byte units includes a second number of first bytes, and the total number of bits of the second number of first bytes is greater than or equal to the number of image data included in the data unit;

[0010] The parsed field includes a plurality of second byte units, each of the second byte units includes a third number of second bytes, each of the second bytes includes idle bits and occupied bits occupied by image data, image data of different pixels are located on different second bytes, and the third number is greater than or equal to the first number;

[0011] The multiple data units, the multiple first byte units and the multiple second byte units correspond one to one.

[0012] Optionally, the number of bits of the second byte is N, and N is greater than or equal to the number M of image data of each pixel, NM consecutive bits of the second byte are the idle bits, and M consecutive bits are the occupied bits.

[0013] Optionally, for each of the second byte units, the image data on the occupied bits in the i-th second byte of the second byte unit is the image data of the i-th pixel in the data unit corresponding to the second byte unit, and the value range of i is [1, K], where K is the first number.

[0014] Optionally, when both the first number and the third number are 2 and the highest NM consecutive bits in each of the second bytes are the idle bits, the restoring the parsed field to obtain the target image data includes:

[0015] For each of the second-byte units, the image data on the first second byte in the second byte unit is shifted left by NM bits, and a preset operation is performed on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

[0016] Optionally, when both the first number and the third number are 2 and the lowest NM consecutive bits in each of the second bytes are the idle bits, the restoring the parsed field to obtain the target image data includes:

[0017] For each of the second-byte units, the image data on the second second byte in the second byte unit is shifted left by M bits, and a preset operation is performed on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

[0018] Optionally, the image data located at the idle bit position is 0, and the preset operation includes a logical OR operation or a sum operation.

[0019] Optionally, the data processing method is applied to a first electronic device, and acquiring a data packet including target image data includes:

[0020] The first electronic device acquires a data packet including target image data from the second electronic device;

[0021] The second electronic device is different from the first electronic device, and when acquiring the target image data, the second electronic device processes the target image data according to the MIPI protocol to obtain the data packet, and sends the data packet to the first electronic device.

[0022] According to a second aspect of an embodiment of the present disclosure, there is provided a data processing device, including:

[0023] an acquisition module, configured to acquire a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data;

[0024] a parsing module configured to parse the data packet to obtain a parsing field including the target image data, wherein the order of the target image data included in the parsing field is the same as the original order;

[0025] The restoration processing module is configured to perform restoration processing on the parsed field to obtain the target image data.

[0026] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0027] processor;

[0028] a memory for storing processor-executable instructions;

[0029] The processor is configured to execute a data processing method as described in any one of the first aspects of the embodiments of the present disclosure.

[0030] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the data processing method provided by the first aspect of the embodiment of the present disclosure are implemented.

[0031] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the data processing method provided by the first aspect of an embodiment of the present disclosure.

[0032] By adopting the above technical solution, after obtaining a data packet including target image data, the data packet is parsed to obtain a parsed field including the target image data, and finally the parsed field is restored to obtain the target image data. In this way, there is no need to perform ISP processing on the image data, and the image data is not modified, so the consistency of the image data before and after processing is ensured, meeting the needs of simulating real scenes.

[0033] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0035] Figure 1 It is a schematic diagram of data processing in the related technology.

[0036] Figure 2 It is a schematic diagram of another data processing in the related technology.

[0037] Figure 3 The invention is a flowchart of a data processing method according to an exemplary embodiment.

[0038] Figure 4 It is a schematic diagram of a data processing method according to an exemplary embodiment.

[0039] Figure 5 The figure is a schematic diagram showing a method of obtaining target image data according to an exemplary embodiment.

[0040] Figure 6 The figure is a schematic diagram showing a method of obtaining target image data according to an exemplary embodiment.

[0041] Figure 7 It is a block diagram of a data processing device according to an exemplary embodiment.

[0042] Figure 8 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0044] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0045] At present, the industry mainly processes data in the following two ways: the first is to copy the video data to be processed to the autonomous driving domain controller, which first decodes the video and converts it into image data, and then transmits it to the downstream algorithm module for simulation calculation. The second is to store video data in a device. When processing, first, decode the video data into image data, then inject the image data into MIPI (Mobile Industry Processor Interface) data packets in the video injection board, and then transmit it to the autonomous driving domain controller through the camera interface via the LVDS (Low-Voltage Differential Signaling) high-speed transmission line, and then transmit it to the downstream algorithm module for simulation calculation after being processed by the ISP (Image Signal Processing) module in the autonomous driving domain controller.

[0046] For example, Figure 1 It is a schematic diagram of data processing in the related technology. Figure 1 As shown, the video data is stored in the autonomous driving domain controller. When processing, the video data is first decoded by the video decoding module to obtain image data. In order to ensure the continuity of data re-injection and meet the synchronization requirements with other sensors, a large amount of image data needs to be cached and output to the downstream algorithm module after synchronization. Among them, the video decoding module usually needs to be applied to the proprietary video decoding hardware contained in the autonomous driving domain controller, otherwise it will take up additional CPU (Central Processing Unit) or GPU (Graphics Processing Unit) resources for decoding. This solution will bring additional memory and computing resource usage, which will affect the operation of the algorithm and thus affect the accuracy of the simulation results.

[0047] Figure 2 It is a schematic diagram of another data processing in the related technology. Figure 2 As shown in the figure, the video data is stored on the industrial computer. When processing, the video data is decoded on the industrial computer to obtain image data. Then, the image data is formed into MIPI data packets according to the MIPI protocol using the video injection board. After that, it is transmitted to the autonomous driving domain controller through the camera interface via the LVDS high-speed transmission line. After being processed by the ISP module in the autonomous driving domain controller, it is transmitted to the downstream algorithm module for simulation calculation. Since the input image data needs to be processed by the ISP, the original data will be modified and cannot be truly restored, which does not meet the needs of simulating real scenes.

[0048] In view of this, the present disclosure provides a data processing method, device, vehicle, medium and program product, which do not require ISP processing of image data, do not modify the image data, ensure the consistency of image data before and after processing, and meet the needs of simulating real scenes.

[0049] Figure 3 FIG. 1 is a flow chart of a data processing method according to an exemplary embodiment. Figure 3 As shown, the data processing method may include the following steps.

[0050] In step S31, a data packet including target image data is acquired, wherein the order of the target image data included in the data packet is different from the original order of the target image data.

[0051] Among them, when the data processing method is applied to the vehicle field, the target image data can be the environmental image data during the vehicle driving process, when applied to the ship field, the target image data can be the environmental image data during the ship driving process, etc. In addition, the method of generating the data packet belongs to a relatively mature technology, and the present disclosure does not limit this.

[0052] In step S32, the data packet is parsed to obtain a parsed field including the target image data, wherein the order of the target image data included in the parsed field is the same as the original order.

[0053] After the data packet is acquired, the data packet is parsed at the bottom driver layer to obtain a parsing field including the target image data. It should be understood that during the parsing process, the target image data that is different from the original order will be restored to the target image data that is the same as the original order. However, since the bits of the bytes in the parsing field are usually not completely consistent with the number of pixel image data, that is, there are usually idle bits in the bytes in the parsing field, it is necessary to process the parsing field to obtain the target image data.

[0054] In step S33, the parsed fields are processed to obtain target image data.

[0055] The processing of the parsing field refers to removing the idle bits in the bytes of the parsing field to obtain the target image data.

[0056] By adopting the above technical solution, after obtaining a data packet including target image data, the data packet is parsed to obtain a parsed field including the target image data, and finally the parsed field is restored to obtain the target image data. In this way, there is no need to perform ISP processing on the image data, and the image data is not modified, so the consistency of the image data before and after processing is ensured, meeting the needs of simulating real scenes.

[0057] In order to help those skilled in the art better understand the data processing method provided by the present disclosure, the method is described below with a complete embodiment.

[0058] First, a specific implementation method of acquiring a data packet including target image data is described.

[0059] In one embodiment, the first electronic device executing the data processing method stores video data to be processed, and decodes the video data to obtain target image data, and then processes the target image data according to the MIPI protocol to obtain a data packet including the target image data. The processing here can be understood as packet processing, etc. In addition, the way the first electronic device generates the data packet is as described above, and will not be repeated here.

[0060] In another embodiment, the data processing method can be applied to a first electronic device, and a specific implementation of obtaining a data packet including target image data can be: the first electronic device obtains a data packet including target image data from a second electronic device. The second electronic device is different from the first electronic device, and when the second electronic device obtains the target image data, it processes the target image data according to the MIPI protocol to obtain a data packet, and sends the data packet to the first electronic device.

[0061] Figure 4 is a schematic diagram of a data processing method according to an exemplary embodiment. Figure 4 As shown, in this embodiment, the second electronic device stores video data, and uses the video decoding module to execute the video decoding program to decode the video data to obtain target image data, then the target image data is input into the video injection board, so that the target image data is packaged according to the MIPI protocol by the video injection board to obtain a MIPI data packet, and then the MIPI data packet is transmitted to the first electronic device through the LVDS high-speed transmission line, and finally, the data processing device in the first electronic device processes the target image data according to the MIPI protocol. Figure 3 The method shown performs data processing to obtain target image data, and sends the target image data to a downstream algorithm module for simulation calculation.

[0062] Among them, the first electronic device can be an autonomous driving domain controller, and the second electronic device can be an industrial computer, etc.

[0063] Thus, in this embodiment, the video data can be stored in a second electronic device different from the first electronic device and the video decoding process can be performed to obtain a data packet including the target image data, without occupying the CPU or GPU resources of the first electronic device for decoding, nor will it bring about additional memory and computing resource occupation, and will not affect the operation of the algorithm, and thus will not affect the accuracy of the simulation results. In addition, the target image data is packaged according to the MIPI protocol to obtain a data packet in MIPI format, and the data packet in MIPI format is sent to the first electronic device, which can meet the needs of real-time data transmission.

[0064] In one embodiment, the target image data may include multiple data units, each data unit may include image data of a first number of pixels, and the first number is an integer greater than or equal to 1. Assuming that the first number is 2, and the number of image data per pixel is 12, each data unit may include 24 image data.

[0065] Accordingly, the data packet in step S31 may include multiple first byte units, each first byte unit may include a second number of first bytes, and the total number of bits of the second number of first bytes is greater than or equal to the number of image data included in the data unit. For example, using the above example, if each data unit includes 24 image data, the total number of bits of the second number of first bytes is greater than or equal to 24. For example, if the first byte is an 8-bit byte, the second number may be greater than or equal to 3. In order to avoid wasting bandwidth, preferably, the total number of bits of the second number of first bytes should be equal to the number of image data included in each data unit, that is, in the above example, the second number is preferably 3.

[0066] In addition, the parsing field may also include multiple second byte units, and each second byte unit includes a third number of second bytes, each second byte includes idle bits and occupied bits occupied by image data, image data of different pixels are located on different second bytes, and the third number is greater than or equal to the first number.

[0067] In the present disclosure, multiple data units, multiple first byte units, and multiple second byte units correspond one to one. For example, if the target image data includes L pixels of data and the data unit includes 2 pixels of image data, the number of data units, first byte units, and second byte units may be L / 2, and the jth data unit, the jth first byte unit, and the jth second byte unit correspond, and the value range of j is [1, L / 2], and L is an integer greater than 1.

[0068] Image data of different pixels are located on different second bytes, that is, image data belonging to different pixels are located on different second bytes. For example, image data belonging to different pixels can be located on one byte or on multiple bytes. For example, assuming that the pixel is 12 bits and the second byte is 8 bits, the image data belonging to the same pixel is located on at least two second bytes, and in this case, the third quantity is greater than the first quantity. For another example, assuming that the pixel is 12 bits and the second byte is 16 bits, the image data belonging to the same pixel can be located on one second byte, and in this case, the third quantity is equal to the first quantity. The present disclosure does not make specific limitations on this.

[0069] In one embodiment, image data belonging to the same pixel may be located on one second byte, that is, the second byte unit includes as many second bytes as the number of pixels of image data included in the data unit. For example, if each data unit includes image data of two pixels, the second byte unit includes two second bytes.

[0070] In this embodiment, the number of bits of the second byte is N, that is, the second byte is a byte of N bits, and N is greater than or equal to the number M of image data of each pixel. In the present disclosure, in order to make the image data of the same pixel be located on the same second byte, the number of bits of each second byte should be greater than the number of image data of one pixel. For example, if the number of image data of each pixel is 12, the second byte can be a byte of 16 bits or a byte of 32 bits. However, considering that the more bits of the second byte, the more idle bits there are, which will cause a waste of bandwidth, therefore, in order to avoid wasting bandwidth, the second byte can preferably be a byte of 16 bits.

[0071] Among them, NM consecutive bits of the second byte are idle bits, and M consecutive bits are occupied bits. For example, the idle bits can be the highest NM consecutive bits in the second byte, or the lowest NM consecutive bits.

[0072] In addition, in the present disclosure, for each second byte unit, the image data located at the occupied bit positions in the i-th second byte of the second byte unit is the image data of the i-th pixel in the data unit corresponding to the second byte unit, and the value range of i is [1, K], where K is the first number.

[0073] In one embodiment, when the first number and the third number are both the same as 2 and the highest NM consecutive bits in each second byte are idle bits, Figure 3Step S33 of restoring the parsed field to obtain the target image data may further include: for each second byte unit, shifting the image data on the first second byte in the second byte unit to the left by NM bits, performing preset operations on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

[0074] It should be understood that the preset operation is performed on the image data at the lowest M bits in the first second byte after being shifted left by NM bits and the image data at the highest M bits in the second second byte.

[0075] For example, Figure 5 FIG. 1 is a schematic diagram showing a method of obtaining target image data according to an exemplary embodiment. Figure 5 As shown in the figure, assuming that the target image data is in YUV420 format, for image data of the same resolution, the data length of YUV420 and RAW12 is the same, the number of image data of one pixel is 12, and each pixel corresponds to 1.5 8-bit bytes. In this example, the target image data YUV420 is transmitted to the serializer in RAW12 format, and the serializer will perform packet processing according to the MIPI protocol, and the following is obtained: Figure 5 The data packet MIPI RAW12 shown in the figure. In the data packet MIPI RAW12, every three bytes are a first byte unit. Figure 5 Only one data unit, a first byte unit and a second byte unit, of the target image data is used.

[0076] like Figure 5 As shown, a data unit includes three bytes, which are recorded as D1, D2 and D3 respectively, for storing image data of two pixels, and each first byte is an 8-bit byte. In the data packet MIPI RAW12, the first first byte corresponds to the first byte D1 of the data unit in the target image data YUV420, the upper four bits and lower four bits of the second first byte correspond to the lower four bits of the second byte D2 and the upper four bits of the third byte D3 of the data unit in the target image data YUV420, and the upper four bits and lower four bits of the third first byte correspond to the lower four bits of the third byte D3 and the upper four bits of the second byte D2 of the data unit in the target image data YUV420.

[0077] In the parsing stage, the three bytes of the MIPI RAW12 data packet are restored to the original byte order, but unlike the three bytes of the original data, two 16-bit bytes are used to represent it, that is, each second byte is a 16-bit byte. Figure 5As shown, the data packet MIPI RAW12 is parsed to obtain the parsing field YUV420-U16 including the target image data. In the parsing field YUV420-U16, the upper 4 bits of each second byte are idle bits (such as Figure 5 As shown in the rectangular box with slashes in the middle), the lower 12 bits are occupied bits. Among them, the image data located at the lower 12 bits of the first second byte is the image data of the first pixel in the data unit, and the image data located at the lower 12 bits of the second second byte is the image data of the second pixel in the data unit, that is, the lower 12 bits of the first second byte correspond to the upper four bits of the second byte D2 and the first byte D1 in the data unit, and the lower 12 bits of the second second byte correspond to the lower four bits of the second byte D2 and the third byte D3 in the data unit. The specific correspondence is as follows: Figure 5 shown.

[0078] like Figure 5 As shown, in the restoration processing stage, the image data located on the first second byte of the second byte unit is shifted left by 4 bits to obtain the third byte, and then the image data on the lowest 8 bits in the third byte and the image data on the highest 8 bits in the second second byte are subjected to a preset operation to obtain the target image data YUV420.

[0079] In another embodiment, when the first number and the third number are both the same as 2 and the lowest NM consecutive bits in each second byte are idle bits, Figure 3 Step S33 of restoring the parsed field to obtain the target image data may further include: for each second byte unit, shifting the image data on the second second byte in the second byte unit to the left by M bits, performing preset operations on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

[0080] It should be understood that the preset operation is performed on the image data at the highest M bits in the second second byte after being shifted left by M bits and the image data at the lowest M bits in the first second byte.

[0081] Figure 6 FIG. 1 is a schematic diagram showing a method of obtaining target image data according to an exemplary embodiment. Figure 6The method of obtaining the data packet MIPI RAW12 is as described above and will not be repeated here. In the parsing stage, the three bytes of the data packet MIPIRAW12 are restored to the original byte order, but unlike the three bytes of the original data, two 16-bit bytes are used to represent it, that is, each second byte is a 16-bit byte. Figure 6 As shown, the data packet MIPIRAW12 is parsed to obtain the parsing field YUV420-U16 including the target image data. In the parsing field YUV420-U16, the lower 4 bits of each second byte are idle bits (such as Figure 6 As shown in the rectangular box with slashes in the middle), the upper 12 bits are occupied bits. Among them, the image data located at the upper 12 bits of the first second byte is the image data of the first pixel in the data unit, and the image data located at the upper 12 bits of the second second byte is the image data of the second pixel in the data unit, that is, the upper 12 bits of the first second byte correspond to the upper four bits of the second byte D2 in the data unit and the first byte D1, and the upper 12 bits of the second second byte correspond to the lower four bits of the second byte D2 in the data unit and the third byte D3.

[0082] like Figure 6 As shown, in the restoration processing stage, the image data located at the second second byte of the second byte unit is shifted left by 12 bits to obtain the third byte, and then the preset operation is performed on the data at the highest 8 bits in the third byte and the data at the lowest 8 bits in the first second byte to obtain the target image data YUV420.

[0083] In the present disclosure, data located at an idle bit position may be 0, and the preset operation may include a logical OR operation or a Sum operation.

[0084] With the above technical solution, only the data in the parsing field is rearranged in the restoration processing stage without ISP processing, so the consistency of the image data can be ensured, and the purpose of efficient and lossless transmission of the target image data is achieved. In addition, only shift and assignment instructions are used to complete the restoration processing for the parsing field to obtain the target image data, ensuring efficient operation of data processing without occupying additional computing resources.

[0085] Based on the same inventive concept, the present disclosure also provides a data processing device, Figure 7 FIG. 1 is a block diagram of a data processing device according to an exemplary embodiment. Figure 7 As shown, the data processing device 700 may include:

[0086] An acquisition module 701 is configured to acquire a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data;

[0087] A parsing module 702 is configured to parse the data packet to obtain a parsed field including the target image data, wherein the order of the target image data included in the parsed field is the same as the original order;

[0088] The restoration processing module 703 is configured to perform restoration processing on the parsed field to obtain the target image data.

[0089] Optionally, the target image data includes a plurality of data units, each of the data units includes image data of a first number of pixels, and the first number is an integer greater than or equal to 1;

[0090] The data packet includes a plurality of first byte units, each of the first byte units includes a second number of first bytes, and the total number of bits of the second number of first bytes is greater than or equal to the number of image data included in the data unit;

[0091] The parsed field includes a plurality of second byte units, each of the second byte units includes a third number of second bytes, each of the second bytes includes idle bits and occupied bits occupied by image data, image data of different pixels are located on different second bytes, and the third number is greater than or equal to the first number;

[0092] The multiple data units, the multiple first byte units and the multiple second byte units correspond one to one.

[0093] Optionally, the number of bits of the second byte is N, and N is greater than or equal to the number M of image data of each pixel, NM consecutive bits of the second byte are the idle bits, and M consecutive bits are the occupied bits.

[0094] Optionally, for each of the second byte units, the image data on the occupied bits in the i-th second byte of the second byte unit is the image data of the i-th pixel in the data unit corresponding to the second byte unit, and the value range of i is [1, K], where K is the first number.

[0095] Optionally, when the first number and the third number are both 2 and the highest NM consecutive bits in each of the second bytes are the idle bits, the restoration processing module 703 includes:

[0096] The first restoration processing submodule is configured to: for each of the second-byte units, shift the image data located on the first second byte in the second byte unit to the left by NM bits, and perform preset operations on the image data located on the lowest M bits in the first second byte and the image data located on the highest M bits in the second second byte to obtain the target image data.

[0097] Optionally, when both the first number and the third number are 2 and the lowest NM consecutive bits in each of the second bytes are the idle bits, the restoration processing module 703 includes:

[0098] The second restoration processing submodule is configured to: for each of the second-byte units, shift the image data located at the second second byte in the second byte unit to the left by M bits, perform preset operations on the image data located at the lowest M bits in the first second byte and the image data located at the highest M bits in the second second byte, so as to obtain the target image data.

[0099] Optionally, the image data located at the idle bit position is 0, and the preset operation includes a logical OR operation or a sum operation.

[0100] Optionally, the data processing method is applied to a first electronic device, and the acquisition module 701 is configured as follows: the first electronic device acquires a data packet including target image data from a second electronic device;

[0101] The second electronic device is different from the first electronic device, and when acquiring the target image data, the second electronic device processes the target image data according to the MIPI protocol to obtain the data packet, and sends the data packet to the first electronic device.

[0102] Regarding the data processing device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0103] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the data processing method provided by the present disclosure are implemented.

[0104] Figure 8 600 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0105] Reference Figure 8 , the vehicle 600 may include various subsystems, for example, an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 600 may be interconnected by wire or wireless means.

[0106] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

[0107] The perception system 620 may include several sensors for sensing information about the environment around the vehicle 600. For example, the perception system 620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0108] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0109] The drive system 640 may include components that provide powered motion for the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0110] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652, and the processor 651 may execute instructions 653 stored in the memory 652.

[0111] The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0112] The memory 652 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0113] In addition to the instructions 653 , the memory 652 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in the memory 652 may be used by the computing platform 650 .

[0114] In the embodiment of the present disclosure, the processor 651 may execute the instruction 653 to complete all or part of the steps of the above-mentioned data processing method.

[0115] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0116] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0117] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0118] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A data processing method, characterized in that: include: Acquire a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data; Parsing the data packet to obtain a parsed field including the target image data, wherein the order of the target image data included in the parsed field is the same as the original order; Performing restoration processing on the parsed field to obtain the target image data; The target image data includes a plurality of data units, each of the data units includes image data of a first number of pixels, and the first number is an integer greater than or equal to 1; The data packet includes a plurality of first byte units, each of the first byte units includes a second number of first bytes, and the total number of bits of the second number of first bytes is greater than or equal to the number of image data included in the data unit; The parsed field includes a plurality of second byte units, each of the second byte units includes a third number of second bytes, each of the second bytes includes idle bits and occupied bits occupied by image data, image data of different pixels are located on different second bytes, and the third number is greater than or equal to the first number; The multiple data units, the multiple first byte units, and the multiple second byte units correspond to each other one by one; The number of bits of the second byte is N, and N is greater than or equal to the number M of image data of each pixel, NM consecutive bits of the second byte are the idle bits, and M consecutive bits are the occupied bits; For each of the second byte units, the image data on the occupied bits in the i-th second byte of the second byte unit is the image data of the i-th pixel in the data unit corresponding to the second byte unit, and the value range of i is [1, K], where K is the first number.

2. The data processing method according to claim 1, characterized in that: In the case that both the first number and the third number are 2 and the highest NM consecutive bits in each of the second bytes are the idle bits, the restoring the parsed field to obtain the target image data includes: For each of the second-byte units, the image data on the first second byte in the second byte unit is shifted left by NM bits, and a preset operation is performed on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

3. The data processing method according to claim 1, characterized in that: In the case that both the first number and the third number are 2 and the lowest NM consecutive bits in each of the second bytes are the idle bits, the performing restoration processing on the parsed field to obtain the target image data includes: For each of the second-byte units, the image data on the second second byte in the second byte unit is shifted left by M bits, and a preset operation is performed on the image data on the lowest M bits in the first second byte and the image data on the highest M bits in the second second byte to obtain the target image data.

4. The data processing method according to claim 2 or 3, characterized in that: The image data located at the idle bit position is 0, and the preset operation includes a logical OR operation or a sum operation.

5. The data processing method according to any one of claims 1 to 3, characterized in that: The data processing method is applied to a first electronic device, and acquiring a data packet including target image data includes: The first electronic device acquires a data packet including target image data from the second electronic device; The second electronic device is different from the first electronic device, and when acquiring the target image data, the second electronic device processes the target image data according to the MIPI protocol to obtain the data packet, and sends the data packet to the first electronic device.

6. A data processing device, characterized in that: For executing the data processing method according to claim 1, the data processing device comprises: an acquisition module, configured to acquire a data packet including target image data, wherein the order of the target image data included in the data packet is different from the original order of the target image data; a parsing module configured to parse the data packet to obtain a parsing field including the target image data, wherein the order of the target image data included in the parsing field is the same as the original order; A restoration processing module, configured to perform restoration processing on the parsed field to obtain the target image data; The target image data includes a plurality of data units, each of the data units includes image data of a first number of pixels, and the first number is an integer greater than or equal to 1; The data packet includes a plurality of first byte units, each of the first byte units includes a second number of first bytes, and the total number of bits of the second number of first bytes is greater than or equal to the number of image data included in the data unit; The parsed field includes a plurality of second byte units, each of the second byte units includes a third number of second bytes, each of the second bytes includes idle bits and occupied bits occupied by image data, image data of different pixels are located on different second bytes, and the third number is greater than or equal to the first number; The multiple data units, the multiple first byte units, and the multiple second byte units correspond to each other one by one; The number of bits of the second byte is N, and N is greater than or equal to the number M of image data of each pixel, NM consecutive bits of the second byte are the idle bits, and M consecutive bits are the occupied bits; For each of the second byte units, the image data on the occupied bits in the i-th second byte of the second byte unit is the image data of the i-th pixel in the data unit corresponding to the second byte unit, and the value range of i is [1, K], where K is the first number.

7. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the data processing method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the data processing method according to any one of claims 1 to 5 are implemented.

9. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the data processing method according to any one of claims 1 to 5.

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