Electronic rearview mirror system, fault processing method and storage medium

Abstract

The invention relates to an electronic rearview mirror system, a fault processing method of the electronic rearview mirror system, a computer readable storage medium and a computer program product. An electronic rearview mirror system according to one aspect of the present application includes: a processing unit configured to compare images of two adjacent frames of a rearview environment outside a vehicle to generate a freeze detection result; the control unit is coupled with the processing unit and is configured to determine the sending time of an exposure command for sending a first frame image and the obtaining time of the processing unit for obtaining the first frame image according to the first frame image; determining a time difference between the obtaining time and the sending time; and executing a fault processing operation based on one or more of the freeze detection result and the time difference, wherein the fault processing operation comprises generating a control signal for displaying fault alarm information on a display screen in an overlapping manner.

Description

Technical Field

[0001] The present application generally relates to the field of vehicles, and more specifically to an electronic rearview mirror system, a fault handling method of the electronic rearview mirror system, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the continuous development of camera technology, more and more vehicles are using electronic exterior rearview mirrors (Camera Monitor System, CMS) to replace traditional physical rearview mirrors. Compared with traditional physical rearview mirrors, electronic exterior rearview mirrors can provide a wider field of view through cameras, reduce blind spots, and can clearly display the rear view of the vehicle at night and in bad weather conditions after calibration and correction of the camera, thus solving the problem of small observation field of physical rearview mirrors and unclear display at night and in bad weather conditions. In addition, the streamlined design of electronic exterior rearview mirrors helps to reduce the air resistance of the vehicle, thereby reducing wind noise and increasing the vehicle's cruising range.

[0003] During vehicle driving, the driver can judge whether there are other vehicles behind the vehicle through the rear view image displayed on the display screen of the electronic exterior rearview mirror, so as to control the vehicle driving, such as controlling the vehicle to change lanes, turn, etc. However, when the rear view image displayed on the display screen of the electronic exterior rearview mirror is delayed or stuck and the driver controls the vehicle driving based on this image, it may have a negative impact on driving safety. Therefore, how to improve the reliability and safety of electronic exterior rearview mirrors is an urgent problem to be solved. Summary of the invention

[0004] In order to solve or at least alleviate one or more of the above problems, the following technical solutions are provided.

[0005] According to a first aspect of the present application, an electronic rearview mirror system is provided, comprising: a processing unit configured to compare images of two adjacent frames of an external rearview environment of a vehicle to generate a freeze detection result; a control unit coupled to the processing unit and configured to: for a first frame image, determine a sending moment of an exposure command for sending the first frame image and an acquisition moment of the first frame image by the processing unit; determine a time difference between the acquisition moment and the sending moment; and perform a fault handling operation based on one or more of the freeze detection result and the time difference, the fault handling operation comprising generating a control signal for superimposing fault alarm information on a display screen.

[0006] According to the electronic rearview mirror system described in one embodiment of the present application, the processing unit is a bridge chip of the electronic rearview mirror system, and the bridge chip is configured to respond to the control signal and display the fault alarm information on the display screen in an overlapping manner through the OSD mapping function of the bridge chip.

[0007] According to the electronic rearview mirror system of one embodiment or any one of the above embodiments of the present application, the processing unit is further configured to: in response to judging that the image of the current frame of the two adjacent frames is consistent with the image of the previous frame, generate a freeze detection result indicating that the image of the current frame has a freezing failure; and in response to judging that the image of the current frame of the two adjacent frames is inconsistent with the image of the previous frame, generate a freeze detection result indicating that the image of the current frame has not a freezing failure.

[0008] According to an electronic rearview mirror system of one embodiment or any one of the above embodiments of the present application, the processing unit is further configured to determine whether the image of the current frame in the images of the two adjacent frames is consistent with the image of the previous frame in the following manner: comparing each pixel value of the area of ​​interest in the image of the current frame with the pixel value of the corresponding position of the area of ​​interest in the image of the previous frame; in response to each pixel value of the area of ​​interest in the image of the current frame being the same as the pixel value of the corresponding position of the area of ​​interest in the image of the previous frame, determining that the image of the current frame is consistent with the image of the previous frame; and in response to one or more pixel values ​​of the area of ​​interest in the image of the current frame being different from the pixel values ​​of the corresponding position of the area of ​​interest in the image of the previous frame, determining that the image of the current frame is inconsistent with the image of the previous frame.

[0009] According to the electronic rearview mirror system of one embodiment or any one of the above embodiments of the present application, the control unit is further configured to perform a fault handling operation in the following manner: determining an initial count value in response to the first frame image; incrementing or decrementing the initial count value based on the freeze detection result to obtain a fault count value; and selectively performing the fault handling operation based on a comparison between the fault count value and a fault threshold.

[0010] In an electronic rearview mirror system according to one embodiment of the present application or any one of the above embodiments, the control unit is further configured to increment or decrement the initial count value in the following manner: in response to the freeze detection result indicating that a freeze failure has occurred in the image of the current frame, the initial count value is incremented by two; and in response to the freeze detection result indicating that a freeze failure has not occurred in the image of the current frame, the initial count value is decremented by one.

[0011] According to an electronic rearview mirror system according to one embodiment of the present application or any one of the above embodiments, the control unit is further configured to perform a fault handling operation in the following manner: in response to the time difference being greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, performing the fault handling operation; in response to the time difference being less than the fault tolerance time interval of the electronic rearview mirror system, determining the number of freeze detection results generated to indicate that a freeze fault has occurred in the image of the current frame, determining a fault duration based on the number and the time difference, and selectively performing the fault handling operation based on a comparison of the fault duration with the fault tolerance time interval of the electronic rearview mirror system.

[0012] In an electronic rearview mirror system according to one embodiment of the present application or any one of the above embodiments, the control unit is further configured to determine the duration of a fault based on the number of times and the time difference in the following manner: determining the product of the number of times and the image update period of the electronic rearview mirror system; and determining the sum of the product and the time difference as the duration of the fault.

[0013] According to the electronic rearview mirror system of one embodiment of the present application or any one of the above embodiments, the fault handling operation further includes generating a control signal for controlling the vehicle to turn on the hazard warning lights.

[0014] According to a second aspect of the present application, a fault handling method for an electronic rearview mirror system is provided, the fault handling method comprising: comparing images of two adjacent frames of the vehicle's external rearview environment to generate a freeze detection result, determining a sending time of an exposure command for sending a first frame of image and an acquisition time of acquiring the first frame of image; determining a time difference between the acquisition time and the sending time; and performing a fault handling operation based on one or more of the freeze detection result and the time difference, the fault handling operation comprising generating a control signal for superimposing fault alarm information on a display screen.

[0015] According to the fault handling method described in an embodiment of the present application, the fault alarm information is displayed on the display screen in an overlaid manner through the OSD mapping function of the bridge chip of the electronic rearview mirror system.

[0016] According to a fault handling method for an electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, wherein comparing images of two adjacent frames of the vehicle's external rearview environment to generate a freeze detection result includes: in response to a judgment that an image of a current frame of the two adjacent frames is consistent with an image of a previous frame, generating a freeze detection result indicating that a freeze fault has occurred in the image of the current frame; and in response to a judgment that an image of the current frame of the two adjacent frames is inconsistent with an image of the previous frame, generating a freeze detection result indicating that a freeze fault has not occurred in the image of the current frame.

[0017] According to the fault handling method of the electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, determining whether the image of the current frame in the images of the two adjacent frames is consistent with the image of the previous frame includes: comparing each pixel value of the area of ​​interest in the image of the current frame with the pixel value of the corresponding position of the area of ​​interest in the image of the previous frame; in response to each pixel value of the area of ​​interest in the image of the current frame being the same as the pixel value of the corresponding position of the area of ​​interest in the image of the previous frame, determining that the image of the current frame is consistent with the image of the previous frame; and in response to one or more pixel values ​​of the area of ​​interest in the image of the current frame being different from the pixel values ​​of the corresponding position of the area of ​​interest in the image of the previous frame, determining that the image of the current frame is inconsistent with the image of the previous frame.

[0018] According to a fault handling method for an electronic rearview mirror according to one embodiment of the present application or any of the above embodiments, performing a fault handling operation based on the freeze detection result and one or more of the time differences includes: determining an initial count value in response to the first frame image; incrementing or decrementing the initial count value based on the freeze detection result to obtain a fault count value; and selectively performing the fault handling operation based on a comparison of the fault count value with a fault threshold.

[0019] According to the fault handling method of the electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, increasing or decreasing the initial count value based on the freeze detection result includes: in response to the freeze detection result indicating that the image of the current frame has a freeze fault, increasing the initial count value by two; and in response to the freeze detection result indicating that the image of the current frame has not a freeze fault, decreasing the initial count value by one.

[0020] According to a fault handling method for an electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, performing a fault handling operation based on one or more of the freeze detection result and the time difference includes: in response to the time difference being greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, performing the fault handling operation; in response to the time difference being less than the fault tolerance time interval of the electronic rearview mirror system, determining the number of freeze detection results generated to indicate that a freeze fault has occurred in the image of the current frame, determining the duration of the fault based on the number and the time difference, and selectively performing the fault handling operation based on a comparison of the fault duration with the fault tolerance time interval of the electronic rearview mirror system.

[0021] According to the fault handling method of the electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, determining the duration of the fault based on the number of times and the time difference includes: determining the product of the number of times and the image update period of the electronic rearview mirror system; and determining the sum of the product and the time difference as the duration of the fault.

[0022] According to the fault handling method of the electronic rearview mirror according to one embodiment of the present application or any one of the above embodiments, the fault handling operation also includes generating a control signal for controlling the vehicle to turn on the hazard warning lights.

[0023] According to a third aspect of the present application, a computer-readable storage medium is provided, in which instructions are stored, and it is characterized in that when the instructions are executed by a processor, the processor executes the fault handling method of the electronic rearview mirror system according to the second aspect of the present application.

[0024] According to a fourth aspect of the present application, a computer program product is provided, the computer program product comprising instructions, which, when executed by a processor, implement the fault handling method for the electronic rearview mirror system according to the second aspect of the present application.

[0025] The electronic rearview mirror system according to one or more embodiments of the present application can detect the time difference between the sending time of the exposure command of the first frame image and the acquisition time of the first frame image by detecting the image of two adjacent frames of the vehicle's external rearview environment and thereby controlling the display screen to display the fault alarm information in a superimposed manner, thereby improving the reliability and safety of the electronic rearview mirror system and ensuring the safety of vehicle driving. The fault handling solution of the electronic rearview mirror system according to one or more embodiments of the present application has a simple judgment logic, does not rely on additional detection and control circuits, has high reliability, and has the advantages of cost saving, simple control, and easy implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or other aspects and advantages of the present application will become clearer and easier to understand through the following description of various aspects in conjunction with the accompanying drawings, in which the same or similar units are represented by the same reference numerals. In the accompanying drawings:

[0027] Figure 1 A structural block diagram of an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0028] Figure 2 A structural block diagram of an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0029] Figure 3A flow chart of a fault handling method for an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0030] Figure 4 A flow chart of a fault handling method for an electronic rearview mirror system according to one or more embodiments of the present application is shown. DETAILED DESCRIPTION

[0031] The present application is described more fully below with reference to the accompanying drawings in which illustrative embodiments of the present application are illustrated. However, the present application may be implemented in different forms and should not be interpreted as being limited to the embodiments given herein. The above embodiments are given to make the disclosure herein comprehensive and complete, so as to more fully convey the scope of protection of the present application to those skilled in the art.

[0032] In the context of the present application, terms such as “comprise” and “include” mean that in addition to the units and steps directly and explicitly stated in the specification and claims, the technical solution of the present application does not exclude the situation where it has other units and steps that are not directly or explicitly stated.

[0033] In the context of the present application, unless otherwise specified, terms such as "first" and "second" do not indicate the order of units in terms of time, space, size, etc., but are merely used to distinguish between units.

[0034] In the context of the present application, “coupling” should be understood to include the situation where electric energy or electric signals are directly transmitted between two units, or the situation where electric energy or electric signals are indirectly transmitted via one or more intermediate units.

[0035] Hereinafter, various exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings.

[0036] Figure 1 A structural block diagram of an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0037] like Figure 1 As shown in , the electronic rearview mirror system 100 includes a processing unit 110 and a control unit 120 coupled to the processing unit 110 .

[0038] The processing unit 110 is configured to compare two adjacent frames of images of the vehicle's external rearview environment to generate a freeze detection result.

[0039] In one embodiment, the processing unit 110 may be configured to compare the image of the current frame and the image of the previous frame in two adjacent frames of the image of the vehicle's external rearview environment to determine whether the image of the current frame is consistent with the image of the previous frame. When it is determined that the image of the current frame is consistent with the image of the previous frame, the processing unit 110 may generate a freezing detection result indicating that a freezing failure has occurred in the image of the current frame; when it is determined that the image of the current frame is inconsistent with the image of the previous frame, the processing unit 110 may generate a freezing detection result indicating that a freezing failure has not occurred in the image of the current frame. Exemplarily, assuming that the image of the vehicle's external rearview environment includes a first frame image I1, a second frame image I2, a third frame image I3, a fourth frame image I4 and a fifth frame image I5, the processing unit 110 can determine whether the second frame image I2 is consistent with the first frame image I1 to generate a freeze detection result of the second frame image I2, determine whether the third frame image I3 is consistent with the second frame image I2 to generate a freeze detection result of the third frame image I3, determine whether the fourth frame image I4 is consistent with the third frame image I3 to generate a freeze detection result of the fourth frame image I4, and determine whether the fifth frame image I5 is consistent with the fourth frame image I4 to generate a freeze detection result of the fifth frame image I5.

[0040] In one embodiment, the processing unit 110 may be configured to compare each pixel value of the region of interest in the image of the current frame with the pixel value of the corresponding position of the region of interest in the image of the previous frame. When each pixel value of the region of interest in the image of the current frame is the same as the pixel value of the corresponding position of the region of interest in the image of the previous frame, it can be determined that the image of the current frame is consistent with the image of the previous frame; when one or more pixel values ​​of the region of interest in the image of the current frame are different from the pixel values ​​of the corresponding position of the region of interest in the image of the previous frame, it can be determined that the image of the current frame is inconsistent with the image of the previous frame. Exemplarily, the central area of ​​the image can be selected as the region of interest. For example, for a rectangular image with a height of H and a width of W, the center coordinates of the rectangular image can be determined to be (W / 2, H / 2). Assuming that the size of the central area is roi_width×roi_height, the upper left corner coordinates of the central area are (W / 2-roi_width / 2, H / 2-roi_height / 2), and the lower right corner coordinates are (W / 2+roi_width / 2, H / 2+roi_height / 2). The central area can be extracted from the rectangular image through the upper left corner coordinates and lower right corner coordinates of the central area. Exemplarily, assuming that the area of ​​interest in the image of the current frame has pixel points (x1, y1), (x2, y2), (x3, y3), where (x1, y1), (x2, y2), (x3, y3) represent the coordinates of each pixel point, the pixel values ​​of the pixel points (x1, y1), (x2, y2), (x3, y3) in the image of the current frame can be compared with the pixel values ​​of the pixel points (x1, y1), (x2, y2), (x3, y3) in the image of the previous frame, respectively.

[0041] The control unit 120 is configured to determine, for the first frame image, the sending time of the exposure command for sending the first frame image and the acquisition time of the first frame image by the processing unit 110, determine the time difference between the acquisition time and the sending time, and perform a fault handling operation based on one or more of the freeze detection result and the time difference, the fault handling operation including generating a control signal for superimposing the fault warning information on the display screen. Optionally, the fault handling operation may also include generating a control signal for controlling the vehicle to turn on the hazard warning lights, the control signal may be sent to the vehicle body controller via the CAN bus, for example, to control the vehicle to turn on the hazard warning lights, thereby alerting other vehicles behind the vehicle.

[0042] In one embodiment, the processing unit 110 can be implemented as a bridge chip of the electronic rearview mirror system, and the bridge chip can be configured to respond to the control signal from the control unit 120 for superimposing the fault alarm information on the display screen and display the fault alarm information on the display screen in a superimposed manner through the OSD (On-Screen Display) mapping function of the bridge chip. Exemplarily, the fault alarm information can be a text message of "rearview mirror display fault, please drive carefully", so as to remind the driver to drive carefully. By using the bridge chip to realize the generation of the freeze detection result and the superimposed display of the fault alarm information, there is no need to set other hardware and software processing units in the electronic rearview mirror system, which has high reliability, cost saving, simple control, and easy implementation.

[0043] In one embodiment, the control unit 120 may be configured to determine an initial count value when the first frame image is detected, increment or decrement the initial count value based on the freeze detection result to obtain a fault count value, and selectively perform a fault handling operation based on a comparison of the fault count value with a fault threshold. In one embodiment, when the fault count value is greater than or equal to the fault threshold, the control unit 120 may perform a fault handling operation; when the fault count value is less than the fault threshold, the control unit 120 may continue to increment or decrement the fault count value based on the freeze detection result.

[0044] In one embodiment, when the freeze detection result indicates that the image of the current frame has a freeze fault, the control unit 120 may increase the initial count value by two; when the freeze detection result indicates that the image of the current frame has not a freeze fault, the control unit 120 may decrease the initial count value by one. Exemplarily, the control unit 120 may include a counter, which may set the initial count value to zero and increase or decrease the initial count value based on the freeze detection result of each frame of the image to obtain a fault count value. Exemplarily, the fault threshold A may be set according to the image update period T1 (i.e., the update period of each frame of the image) of the electronic rearview mirror system and the fault tolerance time interval T2. For example, the fault threshold A may be set according to the following formula (1):

[0045] T1×A≤T2×2 formula (1)

[0046] For example, assuming that the image update period T1 of the electronic rearview mirror system is 16.66 ms and the fault tolerance time interval T2 of the electronic rearview mirror system is 200 ms, the fault threshold A can be set to A≤24 according to the above formula (1), for example, the fault threshold A can be set to 12.

[0047] In one embodiment, the control unit 120 may be configured to selectively perform a fault handling operation based on a comparison of the time difference with the fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the time difference is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the control unit 120 may perform a fault handling operation; when the time difference is less than the fault tolerance time interval of the electronic rearview mirror system, the control unit 120 may determine the number of freeze detection results generated to indicate that a freeze fault has occurred in the image of the current frame, determine the duration of the fault based on the number and the time difference, and selectively perform a fault handling operation based on a comparison of the duration of the fault with the fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the duration of the fault is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the control unit 120 may perform a fault handling operation; when the duration of the fault is less than the fault tolerance time interval of the electronic rearview mirror system, the control unit 120 may continue to determine the duration of the fault. In one embodiment, the control unit 120 may determine the product of the number of freeze detection results indicating that a freeze fault has occurred in the image of the current frame and the image update period of the electronic rearview mirror system, and determine the sum of the product and the time difference as the fault duration.

[0048] Exemplarily, the fault duration T may be determined by the following formula (2):

[0049] T=K×T1+△T Formula (2)

[0050] Wherein, K represents the number of times a freeze detection result indicating that a freeze failure has occurred in the image of the current frame is generated, T1 represents the image update period of the electronic rearview mirror system, and ΔT represents the time difference.

[0051] By converting the delay in detecting each frame of image into the delay in detecting the first frame of image (i.e., the time difference between the acquisition moment of the first frame of image and the sending moment of the exposure command of the first frame of image as described above) and the freezing of each frame of image (i.e., the freezing detection result generated by comparing the images of two adjacent frames of the vehicle's external rearview environment as described above), the design difficulty of detecting the delay of each frame of image is reduced (i.e., the detection of the sending moment of the exposure command of each frame of image and the acquisition moment of each frame of image is difficult and inaccurate), and the accuracy of fault detection is improved.

[0052] It should be noted that the processing unit 110 can respectively compare the images of two adjacent frames in the display screens on the left and right sides of the electronic rearview mirror system to generate a freeze detection result of the left display screen and a freeze detection result of the right display screen, and the control unit 120 can respectively determine the time difference of the first frame image of the left display screen and the time difference of the first frame image of the right display screen for the first frame image in the display screens on the left and right sides, and perform a fault handling operation for the left display screen based on one or more of the freeze detection result of the left display screen and the time difference of the first frame image of the left display screen, and perform a fault handling operation for the right display screen based on one or more of the freeze detection result of the right display screen and the time difference of the first frame image of the right display screen.

[0053] The electronic rearview mirror system according to one or more embodiments of the present application can detect the time difference between the sending time of the exposure command of the first frame image and the acquisition time of the first frame image by detecting two adjacent frames of the vehicle's external rearview environment, so as to timely detect the display screen failure of the electronic rearview mirror system and thereby control the display screen to superimpose the fault alarm information, thereby improving the reliability and safety of the electronic rearview mirror system and ensuring the driving safety of the vehicle. The electronic rearview mirror system according to one or more embodiments of the present application can meet the ISO26262 functional safety requirements of ASIL B level.

[0054] The following will be combined Figure 2 The specific implementation of the electronic rearview mirror system according to one or more embodiments of the present application is described in detail.

[0055] Figure 2 A structural block diagram of an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0056] like Figure 2 As shown in , the electronic rearview mirror system 200 includes a camera module 210, a controller 220 and a screen module 230. The camera module 210 includes a CMOS chip 2101, the controller 220 includes an image signal processing unit 2201 and a first control unit 2202, and the screen module 230 includes a bridge chip 2301, a second control unit 2302, a driving unit 2303 and a display screen 2304. In one embodiment, Figure 1 The processing unit 110 shown in FIG. 1 can be used by means of Figure 2 The bridge chip 2301 shown in FIG. Figure 1 The control unit 120 shown in FIG. 1 can be operated by means of Figure 2Optionally, the camera module 210 may include a left camera module and a right camera module respectively installed on the left and right sides of the vehicle to capture images of the side rear of the vehicle, and the screen module 230 may include a left screen module for processing and displaying images captured by the left camera module and a right screen module for processing and displaying images captured by the right camera module.

[0057] The CMOS chip 2101 is used to obtain raw image data of the external rear-view environment of the vehicle, and send the raw image data to the image signal processing unit 2201 via, for example, a Gigabit Multimedia Serial Link (GMSL).

[0058] The image signal processing unit 2201 is used to process the original image data, such as denoising, color correction, dynamic range optimization, etc., to obtain a processed image, and send the processed image to the bridge chip 2301 via GMSL, for example.

[0059] The bridge chip 2301 is used to convert the format of the processed image, for example, convert the processed image from RAW format to RGB format or YUV format to obtain a format-converted image, and send the format-converted image to the driving unit 2303 .

[0060] The driving unit 2303 may drive the display screen 2304 to display based on the format-converted image.

[0061] The first control unit 2202 is used to control the exposure of the CMOS chip 2101, for example, it can control the exposure of the CMOS chip 2101 in response to receiving an exposure command from the second control unit 2302. For example, the second control unit 2302 can send the exposure command to the first control unit 2202 via a general input and output port.

[0062] In one embodiment, the bridge chip 2301 can compare the images of two adjacent frames received from the image signal processing unit 2201 to generate a freeze detection result, and send the freeze detection result to the second control unit 2302. In one embodiment, when it is determined that the image of the current frame in the images of the two adjacent frames is consistent with the image of the previous frame, the bridge chip 2301 can generate a freeze detection result indicating that the image of the current frame has a freeze failure; when it is determined that the image of the current frame in the images of the two adjacent frames is inconsistent with the image of the previous frame, the bridge chip 2301 can generate a freeze detection result indicating that the image of the current frame has not a freeze failure. Exemplarily, the bridge chip 2301 and the second control unit 2302 can be connected to each other via a serial peripheral interface (SPI) for communication.

[0063] In one embodiment, the second control unit 2302 may set an initial count value, increment or decrement the initial count value based on the freeze detection result from the bridge chip 2301 to obtain a fault count value, and selectively perform a fault handling operation based on a comparison between the fault count value and a fault threshold. In one embodiment, when the fault count value is greater than or equal to the fault threshold, the second control unit 2302 may perform a fault handling operation; when the fault count value is less than the fault threshold, the second control unit 2302 may continue to receive the freeze detection result from the bridge chip 2301 and increment or decrement the fault count value. In one embodiment, when the freeze detection result indicates that a freeze fault occurs in the image of the current frame, the second control unit 2302 may increment the initial count value by two; when the freeze detection result indicates that a freeze fault does not occur in the image of the current frame, the second control unit 2302 may decrement the initial count value by one.

[0064] In one embodiment, the second control unit 2302 may determine the sending time of the exposure command for sending the first frame image and the acquisition time of the bridge chip 2301 acquiring the first frame image, determine the time difference between the acquisition time and the sending time, and perform a fault handling operation based on one or more of the freeze detection result and the time difference from the bridge chip 2301. Exemplarily, the bridge chip 2301 may record the acquisition time of acquiring the first frame image from the image signal processing unit 2201 and send the acquisition time to the second control unit 2302. In one embodiment, the second control unit 2302 may selectively perform a fault handling operation based on a comparison of the time difference and a fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the time difference is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the second control unit 2302 may perform a fault handling operation; when the time difference is less than the fault tolerance time interval of the electronic rearview mirror system, the second control unit 2302 may determine the number of freeze detection results received from the bridge chip 2301 indicating that a freeze fault has occurred in the image of the current frame, determine the duration of the fault based on the number and the time difference, and selectively perform a fault handling operation based on a comparison of the fault duration with the fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the fault duration is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the second control unit 2302 may perform a fault handling operation; when the fault duration is less than the fault tolerance time interval of the electronic rearview mirror system,

[0065] The second control unit 2302 may continue to determine the fault duration.

[0066] In one embodiment, the fault handling operation may include the second control unit 2302 sending a control command to the bridge chip 2301 to control the bridge chip 2301 to display fault warning information in an overlapping manner on the display screen 2304 using the OSD mapping function. In one embodiment, the fault handling operation may also include the second control unit 2302 sending a control command to the vehicle body controller via the CAN bus to control the vehicle to turn on the hazard warning lights.

[0067] In one embodiment, in the electronic rearview mirror system 200, the bridge chip 2301 and the second control unit 2302 can meet the ISO26262 functional safety requirements of ASIL B level, and the remaining modules have no functional safety requirements, thereby improving the reliability and safety of the electronic rearview mirror system at a low cost.

[0068] Figure 3 A flow chart of a fault handling method for an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0069] like Figure 3 As shown in, in step S301, two adjacent frames of images of the vehicle's external rearview environment are compared to generate a freeze detection result, and the sending time of the exposure command for sending the first frame image and the acquisition time of acquiring the first frame image are determined.

[0070] Optionally, in step S301, it can be determined whether the image of the current frame among the images of two adjacent frames is consistent with the image of the previous frame. When it is determined that the image of the current frame among the images of two adjacent frames is consistent with the image of the previous frame, a freezing detection result indicating that a freezing failure has occurred in the image of the current frame can be generated; and when it is determined that the image of the current frame among the images of two adjacent frames is inconsistent with the image of the previous frame, a freezing detection result indicating that a freezing failure has not occurred in the image of the current frame can be generated.

[0071] In step S303, the time difference between the acquisition time of the first frame image and the sending time of the exposure command of the first frame image is determined.

[0072] In step S305, a fault handling operation is performed based on one or more of the freeze detection result and the time difference, the fault handling operation including displaying fault alarm information in a superimposed manner on the display screen.

[0073] Optionally, in step S305, an initial count value may be determined in response to the first frame image, the initial count value may be incremented or decremented based on the freeze detection result to obtain a fault count value, and a fault handling operation may be selectively performed based on a comparison between the fault count value and a fault threshold. In one embodiment, when the fault count value is greater than or equal to the fault threshold, a fault handling operation may be performed; when the fault count value is less than the fault threshold, the fault count value may continue to be incremented or decremented based on the freeze detection result. In one embodiment, when the freeze detection result indicates that a freeze fault occurs in the image of the current frame, the initial count value may be incremented by two; when the freeze detection result indicates that a freeze fault does not occur in the image of the current frame, the initial count value may be decremented by one.

[0074] Optionally, in step S305, a fault handling operation may be selectively performed based on a comparison between the time difference and the fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the time difference is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, a fault handling operation may be performed; when the time difference is less than the fault tolerance time interval of the electronic rearview mirror system, the number of freeze detection results indicating that a freeze fault has occurred in the image of the current frame may be determined, the duration of the fault may be determined based on the number and the time difference, and the fault handling operation may be selectively performed based on a comparison between the duration of the fault and the fault tolerance time interval of the electronic rearview mirror system. In one embodiment, when the duration of the fault is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, a fault handling operation may be performed; when the duration of the fault is less than the fault tolerance time interval of the electronic rearview mirror system, the duration of the fault may continue to be determined.

[0075] According to one aspect of the present application, the electronic rearview mirror system fault handling method detects the image of two adjacent frames of the vehicle's external rearview environment and the time difference between the sending time of the exposure command of the first frame image and the acquisition time of the first frame image, so as to timely detect the display screen failure of the electronic rearview mirror system and thereby control the display screen to superimpose the fault alarm information, thereby improving the reliability and safety of the electronic rearview mirror system and ensuring the driving safety of the vehicle. According to one or more embodiments of the present application, the electronic rearview mirror system fault handling method has simple judgment logic, does not rely on additional detection and control circuits, has high reliability, and has the advantages of cost saving, simple control, and easy implementation.

[0076] Figure 4 A flow chart of a fault handling method for an electronic rearview mirror system according to one or more embodiments of the present application is shown.

[0077] like Figure 4As shown in, in step S401, two adjacent frames of images of the vehicle's external rearview environment are compared to generate a freeze detection result, and a time difference between the acquisition moment of the first frame image and the sending moment of the exposure command of the first frame image is determined.

[0078] In step S403 , a fault count value is determined based on the freeze detection result.

[0079] Optionally, in step S403, an initial count value may be determined in response to the first frame image, and the initial count value may be incremented or decremented based on the freeze detection result to obtain a fault count value. In one embodiment, when the freeze detection result indicates that a freeze fault occurs in the image of the current frame, the initial count value may be incremented by two; when the freeze detection result indicates that a freeze fault does not occur in the image of the current frame, the initial count value may be decremented by one.

[0080] In step S405, it is determined whether the fault count value is greater than or equal to the fault threshold. If it is determined that the fault count value is greater than or equal to the fault threshold, the process proceeds to step S407; otherwise, the process proceeds to step S403 to determine the fault count value based on the freeze detection result of the next frame of image.

[0081] In step S407, a fault handling operation is performed.

[0082] In step S409, it is determined whether the time difference is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system. When it is determined that the time difference is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the process proceeds to step S411; otherwise, the process proceeds to step S413.

[0083] In step S411, a fault handling operation is performed.

[0084] In step S413, the fault duration is determined based on the number of times and the time difference of generating the freeze detection result indicating that the image of the current frame has a freeze fault.

[0085] In step S415, it is determined whether the fault duration is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system. When it is determined that the fault duration is greater than or equal to the fault tolerance time interval of the electronic rearview mirror system, the process proceeds to step S417; otherwise, the process proceeds to step S413 to determine the fault duration based on the freeze detection result of the next frame of image.

[0086] In step S417, a fault handling operation is performed.

[0087] In one embodiment, steps S403, S405 and S407 can be used to detect and process a freezing fault of a display screen of the electronic rearview mirror system, and steps S409, S411, S413, S415 and S417 can be used to detect and process a delay fault of a display screen of the electronic rearview mirror system. In one embodiment, steps S403, S405 and S407 and steps S409, S411, S413, S415 and S417 can be performed in parallel.

[0088] In addition, the present application can also be implemented as a computer-readable storage medium, which stores instructions. When the instructions are executed by a processor, the processor executes the fault handling method of the electronic rearview mirror system described in one aspect of the present application.

[0089] The computer-readable medium referred to in this application includes various types of computer storage media, which can be any available medium that a general or special computer can access. For example, a computer-readable medium can include RAM, ROM, EPROM, E2PROM, register, hard disk, removable disk, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or can be used to carry or store a desired program code unit with an instruction or data structure form and can be accessed by a general or special computer, or a general or special processor. Any other temporary or non-temporary medium. As used herein, the disk usually copies data magnetically, while the dish uses a laser to optically copy data. The above combination should also be included in the protection scope of computer-readable media. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium can be integrated into a processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In an alternative, the processor and the storage medium can reside in a user terminal as discrete components.

[0090] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art can think of other feasible changes or substitutions based on the technical scope disclosed in the present application, and such changes or substitutions are all included in the protection scope of the present application. In the absence of conflict, the implementation modes of the present application and the features in the implementation modes can also be combined with each other.

Claims

1. An electronic rearview mirror system, characterized in that: The electronic rearview mirror system comprises: a processing unit configured to compare two adjacent frames of images of the vehicle's external rear-view environment to generate a freeze detection result; a control unit coupled to the processing unit and configured to: For a first frame of image, determining a sending time of an exposure command for sending the first frame of image and an acquisition time of the first frame of image by the processing unit; Determining a time difference between the acquisition time and the sending time; and A fault handling operation is performed based on one or more of the freeze detection result and the time difference, the fault handling operation including generating a control signal for superimposingly displaying fault warning information on a display screen.

2. The electronic rearview mirror system according to claim 1, wherein the processing unit is a bridge chip of the electronic rearview mirror system, and the bridge chip is configured to display the fault alarm information in an overlapping manner on the display screen through the OSD mapping function of the bridge chip in response to the control signal.

3. The electronic rearview mirror system according to claim 1, wherein the processing unit is further configured to: In response to determining that the image of the current frame of the two adjacent frames is consistent with the image of the previous frame, generating a freezing detection result indicating that a freezing failure occurs in the image of the current frame; as well as In response to determining that the image of the current frame of the two adjacent frames is inconsistent with the image of the previous frame, a freezing detection result is generated to indicate that the image of the current frame has not experienced a freezing failure. The processing unit is further configured to determine whether the image of the current frame of the two adjacent frames is consistent with the image of the previous frame in the following manner: Comparing each pixel value of the region of interest in the image of the current frame with the pixel value of the corresponding position of the region of interest in the image of the previous frame; In response to each pixel value of the region of interest in the image of the current frame being the same as the pixel value of the corresponding position of the region of interest in the image of the previous frame, determining that the image of the current frame is consistent with the image of the previous frame; as well as In response to one or more pixel values ​​of the region of interest in the image of the current frame being different from pixel values ​​of corresponding positions of the region of interest in the image of the previous frame, it is determined that the image of the current frame is inconsistent with the image of the previous frame, The control unit is further configured to perform the fault handling operation in the following manner: determining an initial count value in response to the first frame of image; Incrementing or decrementing the initial count value based on the freeze detection result to obtain a fault count value; and selectively performing the fault handling operation based on a comparison of the fault count value with a fault threshold, The control unit is further configured to increase or decrease the initial count value by: In response to the freeze detection result indicating that a freeze failure occurs in the image of the current frame, incrementing the initial count value by two; and In response to the freeze detection result indicating that the image of the current frame has not experienced a freeze failure, the initial count value is decremented by one, The control unit is further configured to perform the fault handling operation in the following manner: In response to the time difference being greater than or equal to a fault tolerance time interval of the electronic rearview mirror system, executing the fault handling operation; In response to the time difference being less than a fault tolerance time interval of the electronic rearview mirror system, determining a number of times a freeze detection result indicating a freeze fault has occurred in the image of the current frame, determining a fault duration based on the number and the time difference, and selectively performing the fault handling operation based on a comparison of the fault duration with a fault tolerance time interval of the electronic rearview mirror system, The control unit is further configured to determine the fault duration based on the number of times and the time difference in the following manner: determining the product of the number and an image update period of the electronic rearview mirror system; and The sum of the product and the time difference is determined as the fault duration. 4 . The electronic rearview mirror system according to claim 1 , wherein the fault handling operation further comprises generating a control signal for controlling the vehicle to turn on a hazard warning light.

5. A method for troubleshooting an electronic rearview mirror system, characterized in that: The fault handling method comprises: Comparing two adjacent frames of the vehicle's external rearview environment to generate a freeze detection result, determining a sending time of an exposure command for sending a first frame of image and an acquisition time of acquiring the first frame of image; Determining a time difference between the acquisition time and the sending time; and A fault handling operation is performed based on one or more of the freeze detection result and the time difference, the fault handling operation including generating a control signal for superimposingly displaying fault warning information on a display screen. 6 . The fault handling method according to claim 5 , wherein the fault alarm information is displayed on the display screen in an overlay manner through an OSD mapping function of a bridge chip of the electronic rearview mirror system.

7. The fault handling method according to claim 5, wherein comparing two adjacent frames of images of the vehicle's external rearview environment to generate a freeze detection result comprises: In response to determining that the image of the current frame of the two adjacent frames is consistent with the image of the previous frame, generating a freezing detection result indicating that a freezing failure occurs in the image of the current frame; as well as In response to determining that the image of the current frame of the two adjacent frames is inconsistent with the image of the previous frame, a freezing detection result is generated to indicate that the image of the current frame has not experienced a freezing failure. The step of judging whether the image of the current frame of the two adjacent frames is consistent with the image of the previous frame includes: Comparing each pixel value of the region of interest in the image of the current frame with the pixel value of the corresponding position of the region of interest in the image of the previous frame; In response to each pixel value of the region of interest in the image of the current frame being the same as the pixel value of the corresponding position of the region of interest in the image of the previous frame, determining that the image of the current frame is consistent with the image of the previous frame; and In response to one or more pixel values ​​of the region of interest in the image of the current frame being different from pixel values ​​of corresponding positions of the region of interest in the image of the previous frame, it is determined that the image of the current frame is inconsistent with the image of the previous frame, The performing of a fault handling operation based on one or more of the freeze detection result and the time difference comprises: determining an initial count value in response to the first frame of image; Incrementing or decrementing the initial count value based on the freeze detection result to obtain a fault count value; and selectively performing the fault handling operation based on a comparison of the fault count value with a fault threshold, Wherein increasing or decreasing the initial count value based on the freeze detection result comprises: In response to the freeze detection result indicating that a freeze failure occurs in the image of the current frame, incrementing the initial count value by two; and In response to the freeze detection result indicating that the image of the current frame has not experienced a freeze failure, the initial count value is decremented by one, The performing of a fault handling operation based on one or more of the freeze detection result and the time difference comprises: In response to the time difference being greater than or equal to a fault tolerance time interval of the electronic rearview mirror system, executing the fault handling operation; In response to the time difference being less than a fault tolerance time interval of the electronic rearview mirror system, determining a number of times a freeze detection result indicating a freeze fault occurs in the image of the current frame, determining a fault duration based on the number and the time difference, and selectively performing the fault handling operation based on a comparison of the fault duration with a fault tolerance time interval of the electronic rearview mirror system, Wherein determining the duration of the fault based on the number of times and the time difference comprises: determining the product of the number and an image update period of the electronic rearview mirror system; and The sum of the product and the time difference is determined as the fault duration.

8. The fault handling method according to claim 5, wherein the fault handling operation further comprises generating a control signal for controlling the vehicle to turn on a hazard warning light.

9. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When the instruction is executed by a processor, the processor executes the fault handling method of the electronic rearview mirror system according to any one of claims 5-8.

10. A computer program product, characterized in that The computer program product comprises instructions, which, when executed by a processor, implement a fault handling method for an electronic rearview mirror system according to any one of claims 5 to 8.

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