A parking imaging system

Abstract

The present invention discloses a parking imaging system comprising: an image source end and a display end, wherein the image source end is used to collect vehicle environment image information, the display end is communicatively connected to the image source end, the display end processor evaluates the image frame status based on decoded messages, the display end processor evaluates the image source status based on image source flag information, and the display end booster evaluates the display end status based on the display end flag information; when the image frame status includes an image frame fault, the display end processor outputs an emergency braking request instruction; when the image source status includes an image source fault, when the display end status includes a display end fault, the display end processor outputs an emergency braking request instruction, and the emergency braking request instruction is used to activate the vehicle emergency braking module.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent parking image control, and in particular to a parking image system. Background Art

[0002] Parking imaging systems and features, including reverse cameras and 360-degree panoramic cameras (some products refer to them as 540-degree panoramic cameras), are already widely used in passenger cars. They provide drivers with real-time images of the vehicle's surroundings during parking, improving convenience and safety while reducing the possibility of collisions with other vehicles, pedestrians, and obstacles. However, the current development of all parking imaging systems and features focuses on user-friendly features and innovations, such as providing clearer, more multi-angle views and videos, and even enabling driver-activated parking imaging systems at all speeds (including highway speeds). This has led to a neglect of the functional safety aspects of parking imaging systems.

[0003] As a driver assistance system, not an infotainment system, functional safety should be a top priority in parking imaging system development. If the parking imaging system's output image experiences black screens, freezes, or high latency while the vehicle is in motion, it will provide the driver with inaccurate and non-real-time information about the vehicle's surroundings, ultimately leading to incorrect judgment and operation, potentially causing an accident. Therefore, functional safety design for parking imaging systems is crucial. Summary of the Invention

[0004] To solve at least one aspect of the above problems, the present invention provides a parking image system, comprising: an image source end, the image source end comprising an image acquisition module, a first communication module and an image source processor, the image acquisition module and the first communication module being connected to the image source processor respectively, the image acquisition module being used to acquire an environmental image and output a coded image, the image acquisition module outputting an image message through the first communication module, the image message comprising a message sequence number, a coded image and a data check bit, the image source processor outputting image source flag information through the first communication module, the image source flag information comprising image acquisition module flag information and first communication module flag information; a display end, the display end comprising a second communication module, an image decoding module, a display end processor and a display, the second communication module being connected to the first communication module, the image decoding module receiving the image message by connecting to the second communication module, the image decoding module outputting a decoded message based on the image message, the decoded message comprising a decoded image, the message sequence number, and the data check bit, the display is used to output the decoded image, the display-end processor receives the decoded message by connecting to the image decoding module, the display-end processor evaluates the image frame status based on the decoded message, when the image frame status includes an image frame failure, the display-end processor outputs an emergency braking request instruction, the display-end processor receives the image source flag information through the second communication module, the display-end processor evaluates the image source status based on the image source flag information, when the image source status includes an image source failure, the display-end processor outputs an emergency braking request instruction, the display-end processor is used to obtain the display-end flag information, the display-end flag information includes the second communication module flag information, the image decoding module flag information and the display flag information, the display-end booster evaluates the display-end status based on the display-end flag information, when the display-end status includes a display-end failure, the display-end processor outputs an emergency braking request instruction, and the emergency braking request instruction is used to activate the vehicle emergency braking module.

[0005] Preferably, the first communication module includes an Ethernet transceiver and a CAN transceiver, the image acquisition module outputs the image message through the Ethernet transceiver, the image source processor adds the data check bit through the Ethernet transceiver, and the image source processor outputs the image source flag information through the CAN transceiver.

[0006] Preferably, the Ethernet transceiver adopts TSN time-sensitive network related protocols.

[0007] Preferably, the image processor adds E2E communication verification information through the CAN transceiver.

[0008] Preferably, the image frame fault further includes an error frame state, and the display end controller outputs the error frame state based on the check result of the data check bit.

[0009] Preferably, the image frame fault includes a frame loss fault state, the display end processor includes a frame loss braking threshold and a frame loss prompt threshold, the frame loss prompt threshold is less than the frame loss braking threshold, the display end processor calculates the frame loss time based on the message sequence number, when the frame loss time is greater than the frame loss braking threshold, the display end processor outputs a frame loss fault state, when the frame loss time is greater than the frame loss prompt threshold and less than the frame loss braking threshold, the display end booster outputs a frame loss prompt state.

[0010] Preferably, the image frame fault includes a frame rate fault state, the display end processor includes a frame rate braking threshold and a frame rate prompt threshold, the frame rate prompt threshold is greater than the frame rate braking threshold, the display end processor calculates the frame rate based on the decoded image, when the frame rate is less than the frame rate braking threshold, the display end processor outputs a frame rate fault state, when the frame rate is greater than the frame rate fault threshold and less than the frame rate prompt threshold, the display end booster outputs a frame rate prompt state.

[0011] Preferably, the display-side processor stops the display from outputting the decoded image in response to the image frame failure.

[0012] Preferably, the display end processor receives the vehicle speed through the vehicle body controller, and when the vehicle speed is greater than a preset speed threshold, the display end processor turns off the display.

[0013] Preferably, it further comprises a memory, wherein the memory is used to store the image source fault and the display end fault.

[0014] The parking imaging system of an embodiment of the present invention has the following beneficial effects: by monitoring and evaluating the image data and hardware status of the parking imaging system and outputting parking control instructions based on the evaluation results, the technical problem of accidents caused by driver misjudgment due to a malfunction of the parking imaging system is resolved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To better understand the above and other objects, features, advantages, and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. Like reference numerals in the accompanying drawings refer to like components. Those skilled in the art should understand that the accompanying drawings are intended to schematically illustrate preferred embodiments of the present invention and have no limiting effect on the scope of the present invention. The components in the drawings are not drawn to scale.

[0016] Figure 1 shows a structural block diagram of a parking imaging system according to an embodiment of the present invention;

[0017] Figure 2 It shows a structural block diagram of an embodiment of a parking imaging system according to an embodiment of the present invention;

[0018] Figure 3 It shows a structural block diagram of an embodiment of a parking imaging system according to an embodiment of the present invention;

[0019] Figure 4 It shows a structural block diagram of an embodiment of a parking imaging system according to an embodiment of the present invention;

[0020] Figure 5 FIG. 4 shows a structural block diagram of a parking imaging system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0022] As used herein, the term "including" and its variations represent open inclusion, i.e., "including but not limited to." Unless otherwise stated, the term "or" means "and / or." The term "based on" means "based at least in part on." The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment." The term "another embodiment" means "at least one additional embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0023] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present disclosure proposes a parking imaging system, including: an image source end and a display end, the image source end is used to collect vehicle environment image information, the display end is communicatively connected to the image source end, the display end controls the vehicle-mounted display to display a reversing image based on the received environment image information, and outputs a parking request instruction, for example, the parking request instruction includes an emergency braking request instruction, and the display end outputs the emergency braking request instruction by connecting to a brake controller.

[0024] The image source end includes an image acquisition module, a first communication module and an image source processor. The image acquisition module and the first communication module are respectively connected to the image source processor. The image acquisition module is used to acquire environmental images and output coded images. The image acquisition module outputs image messages through the first communication module. The image messages include message sequence numbers, coded images and data check bits. The image source processor outputs image source flag information through the first communication module. The image source flag information includes image acquisition module flag information and first communication module flag information. Figure 1 As shown, the image acquisition module includes a lens module, an image sensor and a system on chip. The lens module is used to collect ambient light and ensure that the ambient light can be refracted onto the image sensor. The image sensor is used to convert the ambient image light signal into an ambient image electrical signal. The system on chip is used to process the ambient image electrical signal input by the image sensor, and encode the ambient image electrical signal and output the encoded image, such as: TDA2; the first communication module includes an Ethernet transceiver and a CAN transceiver. The image acquisition module outputs the image message through the Ethernet transceiver, the image source processor adds the data check bit through the Ethernet transceiver, and the image source processor outputs the image source flag information through the CAN transceiver. The image source processor adopts a microprocessor. The image source processor monitors the status of each device at the image source end by obtaining the image source flag information in real time. The image source processor is used to control the functions of each device of the image source. In other embodiments, such as Figure 2 and Figure 3 As shown, the image source adopts the system architecture of a reversing image camera and a parking image controller. Or in another embodiment, as Figure 4 and Figure 5 As shown in the figure, the image source adopts the system architecture of camera and parking image controller.

[0025] The display terminal includes a second communication module, an image decoding module, a display terminal processor and a display. Figure 1 As shown, the second communication module includes an Ethernet transceiver and a CAN transceiver, and the image decoding module uses a system on chip. The display end processor uses a microprocessor, the display end receives image messages through the Ethernet transceiver, and the display end receives image source flag information through the CAN transceiver. The display is connected to the system on chip, and the display end processor controls the system on chip to output the image so that the display displays the environment image. In another embodiment, Figure 2 and Figure 4 As shown, the display terminal adopts the system architecture of the infotainment host controller and the display screen, and the infotainment host controller is used to realize the functions of the second communication module, the image decoding module, and the display terminal processor. Or, as Figure 3 and Figure 5 As shown, the display side adopts a system architecture in which the infotainment host controller is separated from the display screen.

[0026] The second communication module is connected to the first communication module. The image decoding module receives the image message by connecting to the second communication module. The image decoding module outputs a decoded message based on the image message. The decoded message includes a decoded image, a message sequence number and a data check bit. The display is used to output the decoded image. The display-end processor receives the decoded message by connecting to the image decoding module. The display-end processor evaluates the image frame status based on the decoded message. When the image frame status includes an image frame failure, the display-end processor outputs an emergency braking request instruction. The display-end processor receives the image source flag information through the second communication module. The display-end processor evaluates the image source status based on the image source flag information. When the image source status includes an image source failure, the display-end processor outputs an emergency braking request instruction. The display-end processor is used to obtain the display-end flag information. The display-end flag information includes the second communication module flag information, the image decoding module flag information and the display flag information. The display-end booster evaluates the display-end status based on the display-end flag information. When the display-end status includes a display-end failure, the display-end processor outputs an emergency braking request instruction. The emergency braking request instruction is used to activate the vehicle emergency braking module.

[0027] The hardware modules used in the image source and display have self-test capabilities, setting corresponding flags when a hardware module fails. The image source processor evaluates the status of each hardware component based on the display and image source flags. This evaluation of the display and image source flags resolves black, blue, or distorted screen issues caused by hardware failures.

[0028] In some embodiments, if the image source uses H.264 encoding to compress the acquired environmental image, the transmission time of the Ethernet RTP message must meet the requirement that the first I frame can be transmitted within 40ms, and the UDP transmission period is 40ms / I frame UDP packet number.

[0029] In some embodiments, the Ethernet transceiver uses TSN time-sensitive networking related protocols.

[0030] Specifically, the TSN (Time-Sensitive Networking) protocol is used to ensure real-time Ethernet data transmission, accurate timestamps, and reserved transmission bandwidth. The Ethernet Time-Sensitive Networking protocol avoids video delays, thereby resolving the technical issue of misjudgments leading to traffic accidents caused by video delays.

[0031] In some embodiments, the image processor adds E2E communication verification information via a CAN transceiver.

[0032] Specifically, E2E communication verification information, such as quality-bit and CRC checksum, is added to the CAN message to ensure the validity and correctness of the signal in the CAN message. This E2E communication verification information enables the display end to receive accurate image source flag information, thereby accurately receiving the status information of each device on the image source end.

[0033] In some embodiments, the image frame fault further includes an error frame state, and the display end controller outputs the error frame state based on the check result of the data check bit.

[0034] Specifically, a data check bit is added to the Ethernet data message, and the display end uses the data check bit to determine whether the received image message data has errors. If a data error is found, the display end will give an error frame prompt message and adopt the corresponding minimum safety strategy, and send an emergency braking request instruction to the brake controller through the CAN bus to activate the vehicle's emergency braking function.

[0035] In some embodiments, the image frame failure includes a frame loss failure state, the display end processor includes a frame loss braking threshold and a frame loss prompt threshold, the frame loss prompt threshold is less than the frame loss braking threshold, the display end processor calculates the frame loss time based on the message sequence number, when the frame loss time is greater than the frame loss braking threshold, the display end processor outputs a frame loss failure state, when the frame loss time is greater than the frame loss prompt threshold and less than the frame loss braking threshold, the display end booster outputs a frame loss prompt state.

[0036] Specifically, the image source processor adds message sequence numbers via the Ethernet transceiver. The display processor uses these sequence numbers to determine whether there is frame loss. If frame loss is detected, the system will display a warning message. If the continuous frame loss exceeds the frame loss braking threshold of 50ms, the system will implement the corresponding minimum safety strategy and send an emergency braking request command to the brake controller via the CAN bus, activating the vehicle's emergency braking function. By monitoring the frame loss status, freezing and image freeze problems that may occur when the display screen is output can be resolved.

[0037] In some embodiments, the image frame failure includes a frame rate failure state, the display end processor includes a frame rate braking threshold and a frame rate prompt threshold, the frame rate prompt threshold is greater than the frame rate braking threshold, the display end processor calculates the frame rate based on the decoded image, when the frame rate is less than the frame rate braking threshold, the display end processor outputs a frame rate failure state, when the frame rate is greater than the frame rate failure threshold and less than the frame rate prompt threshold, the display end booster outputs a frame rate prompt state.

[0038] Specifically, the display processor controls the display's on-chip system to monitor Ethernet data, count and calculate frame rates, and issue a warning message when the frame rate drops below the frame rate warning threshold of 25fps. When the frame rate drops below the frame rate braking threshold of 20fps, the system implements a minimum safety strategy and sends an emergency braking request command to the brake controller via the CAN bus, activating the vehicle's emergency braking function. This frame rate monitoring resolves freezing and image freeze issues when the display screen is outputting images.

[0039] In some embodiments, the display-side processor stops the display from outputting the decoded image in response to an image frame failure.

[0040] Specifically, the display processor does not allow the display of the parking image video to be maintained by retrieving the cached data in the video display when frames are lost, erroneous frames are received, or the frame rate is reduced. This makes it impossible for the driver to perceive that the current picture is different from the current environment of the vehicle, which leads to the driver's wrong judgment and operation, and thus causes an accident.

[0041] In some embodiments, the display-end processor receives the vehicle speed through the vehicle body controller, and when the vehicle speed is greater than a preset speed threshold, the display-end processor display is turned off.

[0042] Specifically, the preset speed threshold is 15 km / h. The parking image system can only be activated at low speeds. When the vehicle speed exceeds 15 km / h (4.17 m / s), the display must turn off the parking image video. Those skilled in the art will appreciate that the preset speed threshold can be set based on the actual needs of the vehicle.

[0043] In some embodiments, a memory is further included, and the memory is used to store image source failures and display end failures.

[0044] Specifically, the image source includes a non-volatile memory for storing image source faults; the display includes a non-volatile memory for storing display faults. The display controller shuts down the image source and display devices based on the display fault and the image source fault, and activates the image source and display devices in response to a fault clearing instruction.

[0045] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand this document.

Claims

1. A parking imaging system, characterized in that: include: An image source end, comprising an image acquisition module, a first communication module, and an image source processor, wherein the image acquisition module and the first communication module are respectively connected to the image source processor, the image acquisition module being configured to acquire an environmental image and output a coded image, the image acquisition module outputting an image message through the first communication module, the image message including a message sequence number, a coded image, and a data check bit, the image source processor outputting image source flag information through the first communication module, the image source flag information including image acquisition module flag information and first communication module flag information; The display end includes a second communication module, an image decoding module, a display end processor and a display, the second communication module is connected to the first communication module, the image decoding module receives the image message by connecting to the second communication module, the image decoding module outputs a decoded message based on the image message, the decoded message includes a decoded image, the message sequence number and the data check bit, the display is used to output the decoded image, the display end processor receives the decoded message by connecting to the image decoding module, the display end processor evaluates the image frame status based on the decoded message, when the image frame status includes an image frame fault, the display end processor outputs an emergency braking request instruction, the display The end processor receives the image source flag information through the second communication module, and the display end processor evaluates the image source status based on the image source flag information. When the image source status includes an image source failure, the display end processor outputs an emergency braking request instruction. The display end processor is used to obtain the display end flag information, and the display end flag information includes the second communication module flag information, the image decoding module flag information and the display flag information. The display end booster evaluates the display end status based on the display end flag information. When the display end status includes a display end failure, the display end processor outputs an emergency braking request instruction, and the emergency braking request instruction is used to activate the vehicle emergency braking module.

2. The system according to claim 1, wherein: The first communication module includes an Ethernet transceiver and a CAN transceiver. The image acquisition module outputs the image message through the Ethernet transceiver. The image source processor adds the data check bit through the Ethernet transceiver. The image source processor outputs the image source flag information through the CAN transceiver.

3. The system according to claim 2, characterized in that The Ethernet transceiver adopts TSN time-sensitive network related protocols.

4. The system according to claim 3, characterized in that The image source processor adds E2E communication verification information through the CAN transceiver.

5. The system according to claim 4, characterized in that The image frame fault further includes an error frame state, and the display end controller outputs the error frame state based on the check result of the data check bit.

6. The system according to claim 5, characterized in that The image frame fault includes a frame loss fault state, the display end processor includes a frame loss braking threshold and a frame loss prompt threshold, the frame loss prompt threshold is less than the frame loss braking threshold, the display end processor calculates the frame loss time based on the message sequence number, when the frame loss time is greater than the frame loss braking threshold, the display end processor outputs a frame loss fault state, when the frame loss time is greater than the frame loss prompt threshold and less than the frame loss braking threshold, the display end booster outputs a frame loss prompt state.

7. The system according to claim 6, characterized in that The image frame fault includes a frame rate fault state, the display end processor includes a frame rate braking threshold and a frame rate prompt threshold, the frame rate prompt threshold is greater than the frame rate braking threshold, the display end processor calculates the frame rate based on the decoded image, when the frame rate is less than the frame rate braking threshold, the display end processor outputs a frame rate fault state, when the frame rate is greater than the frame rate fault threshold and less than the frame rate prompt threshold, the display end booster outputs a frame rate prompt state.

8. The system according to claim 7, characterized in that The display-side processor stops the display from outputting the decoded image in response to the image frame failure.

9. The system according to claim 1, wherein: The display end processor receives the vehicle speed through the vehicle body controller, and when the vehicle speed is greater than a preset speed threshold, the display end processor turns off the display.

10. The system according to claim 1, wherein: It also includes a memory, which is used to store the image source fault and the display end fault.

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