Multi-camera control circuit, abnormity recovery method, chip and storage medium

Abstract

The invention provides a multi-camera control circuit, an abnormity recovery method, a chip and a storage medium, and relates to the technical field of electronic circuits. The control circuit comprises a processor, a power supply control module, a deserializer and a plurality of camera modules, the deserializer and the serializers of the plurality of camera modules are respectively and independently connected to the power supply control module; the processor can independently control the power supply of the deserializer and each camera module through the power supply control module; and the processor independently controls the camera module / deserializer to perform power-off reset and / or initialization according to the working state of the deserializer, the connection state and the use state of each camera module and the working state of the serializer under the condition of not influencing the currently used camera module in response to the detected abnormity of the camera. The method can be flexibly applied to various complex multi-camera abnormal scenes, and ensures that the display of the normal camera is not affected while the abnormal camera is recovered in time.

Description

Technical Field

[0001] The present application relates to the field of electronic circuit technology, and in particular to a multi-channel camera control circuit, an abnormality recovery method, a chip and a storage medium. Background Art

[0002] The automotive industry is evolving from mechanization to electrification, networking, intelligence, and sharing, and from the traditional industrial era to the digital era. As one of the important components of future smart cars, the smart cockpit has increasingly rich functional requirements, and the on-board camera is the core sensing device in the smart cockpit. In different scenarios, the types of cameras used in the cockpit are increasing, and the number is also increasing accordingly. Usually, the deserializer of the microprocessor unit (MPU) will connect to multiple serializers at the same time, and then connect each camera through the serializer. Therefore, how to handle exceptions for multiple cameras is a key issue.

[0003] At present, there are many exception handling methods for vehicle-mounted cameras. For example, the patent application with publication number CN114760409A accesses the serializer and deserializer chips, and resets the serializer if the access fails to resolve the exception. However, this processing mechanism is only applicable to the design of one deserializer paired with one serializer. For another example, the patent application with publication number CN115474020A uses a software mechanism to determine the recovery after plugging and unplugging, and controls the deserializer and serializer to reinitialize and reset. However, this processing mechanism is also only applicable to the design of a single deserializer adapted to a single serializer. When a deserializer is connected to multiple serializers at the same time, or multiple applications open the same camera, any of the above solutions that directly reset the deserializer will cause other normal cameras to reset as well, thereby affecting the normal picture being displayed.

[0004] Therefore, there is an urgent need for a technical solution that can detect and handle anomalies in a timely manner when a deserializer is connected to multiple serializers at the same time, while ensuring that the normal display of multiple cameras is not affected. Summary of the invention

[0005] In order to achieve the above-mentioned objectives, the present application provides a multi-channel camera control circuit, an exception recovery method, a chip and a storage medium, which can detect and process exceptions in a timely manner when a deserializer is connected to multiple serializers at the same time, while ensuring that the normal display of multiple cameras is not affected.

[0006] In a first aspect, the present application provides a multi-channel camera control circuit, the circuit comprising: a processor, a power control module, a deserializer and a plurality of camera modules; each of the camera modules comprises an independent serializer;

[0007] The serializer of the deserialization unit and each of the multiple camera modules is separately connected to the power control module; the serializers of each of the multiple camera modules are respectively connected to the deserialization unit; the processor is configured to: separately control the power supply of the deserialization unit and each camera module through the power control module; the processor is further configured to:

[0008] In response to detecting a camera anomaly, based on the working state of the deserialization unit, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module, without affecting the camera modules that are being used, separately power off and reset the target camera module and / or initialize the serializer corresponding to the target camera module to recover from the camera anomaly; or, without affecting the camera modules that are being used, separately power off and reset the deserialization unit and / or initialize it to recover from the camera anomaly;

[0009] Wherein, the usage state of the nth camera module indicates the number of applications that are using the nth camera module, and n is a positive integer.

[0010] In a second aspect, the present application provides an anomaly recovery method for the multi-channel camera control circuit provided in the first aspect, and the method includes:

[0011] S1. Continuously update the working state of the deserialization unit in the circuit, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module;

[0012] S2. In response to detecting a camera anomaly, based on the working state of the deserialization unit, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module, without affecting the camera modules that are being used, separately power off and reset the target camera module and / or initialize the serializer corresponding to the target camera module to recover from the camera anomaly; or, without affecting the camera modules that are being used, separately power off and reset the deserialization unit and / or initialize it to recover from the camera anomaly;

[0013] Wherein, the usage state of the nth camera module indicates the number of applications that are using the nth camera module, and n is a positive integer.

[0014] In a possible implementation manner, the step S2 includes:

[0015] S21. In response to detecting a camera anomaly when turning on the nth camera module, detect the working state of the deserialization unit;

[0016] S22. If the operating state of the deserialiser is normal, the connection state X of the nth camera n and the operating state S of the serializer of the nth camera n are normal, initialise the serializer of the nth camera module;

[0017] When the operating state of the deserialiser is normal, but the connection state X of the nth camera n and / or the operating state S of the serializer n is abnormal:

[0018] If the usage state Y of the nth camera module n is 0, after powering off and resetting the nth camera module, initialise the serializer of the nth camera module;

[0019] If the usage state Y of the nth camera module n is not 0, wait until the nth camera module has finished being used.

[0020] In one possible implementation, the method further includes:

[0021] S23. If the operating state of the deserialiser is abnormal, determine whether the usage states of all camera modules are all 0:

[0022] 3-1. If the usage states of all camera modules are all 0, after powering off and resetting all camera modules, detect whether the operating state of the deserialiser returns to normal; if the operating state of the deserialiser does not return to normal, power off and reset the deserialiser and initialise it;

[0023] 3-2. If there is any camera module with a usage state that is not 0, only power off and reset the camera modules with a usage state of 0, and then detect whether the operating state of the deserialiser returns to normal;

[0024] If the operating state of the deserialiser returns to normal, power off and reset each camera module in turn, identify the target camera with an abnormality, power off and reset the target camera and then feedback the abnormality information;

[0025] If the operating state of the deserialiser does not return to normal, wait until all camera modules have finished being used, and then execute step 3-1.

[0026] In one possible implementation, after recovering from a camera abnormality, the method further includes:

[0027] Release / close the occupied resources of the nth camera module, update the usage state of the nth camera, and reopen the nth camera.

[0028] In a possible implementation, the camera anomalies include one or more of the following: return of underlying error messages, interruption of underlying connection disconnection, and non-connection of the camera.

[0029] In a third aspect, a chip is provided, which includes a processor and an interface circuit. The processor is configured to execute the anomaly recovery method provided in the second aspect.

[0030] In a fourth aspect, a computer-readable storage medium is provided, in which at least one segment of program is stored. The at least one segment of program is executed by a processor to implement the anomaly recovery method provided in the second aspect.

[0031] The technical solutions provided in this application at least include the following technical effects:

[0032] The multi-channel camera control circuit provided in this application includes a processor, a power control module, a deserializer, and multiple camera modules; the serializers of the deserializer and the multiple camera modules are separately connected to the power control module; the processor can separately control the power supply of the deserializer and each camera module through the power control module; in response to detecting a camera anomaly, the processor separately controls the camera module / deserializer to perform power-off reset and / or initialization according to the working state of the deserializer, the connection state, usage state of each camera module, and the working state of the serializer, without affecting the camera modules that are being used. This application can be flexibly applied to various complex multi-channel camera anomaly scenarios, and while promptly recovering the abnormal cameras, ensure that the display of normal cameras is not affected. Description of the Drawings

[0033] Figure 1 is a schematic diagram of a multi-channel camera control circuit provided in an embodiment of this application;

[0034] Figure 2 is a schematic flowchart of an anomaly recovery method provided in an embodiment of this application;

[0035] Figure 3 is a schematic flowchart of another anomaly recovery method provided in an embodiment of this application;

[0036] Figure 4 is a schematic hardware structure diagram of a chip provided in an embodiment of this application. Detailed Embodiments

[0037] To further illustrate each embodiment, the present application provides accompanying drawings. These drawings are part of the disclosure of the present application, mainly used to illustrate the embodiments, and can be combined with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present application. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components. In the present application, the meaning of the term "at least one" is one or more, and the meaning of the term "a plurality" is two or more. For example, a plurality of cameras means two or more cameras.

[0038] The present application will be further described below in conjunction with the accompanying drawings and specific implementation manners.

[0039] In current automotive cockpit products, the application scenarios of cameras are becoming increasingly rich. There are not only cases where a single deserializer accesses multiple cameras simultaneously, but also cases where multiple applications open the same camera to achieve different functions. Therefore, for the abnormal reset process of multi-channel cameras, these complex and diverse application scenarios need to be further considered.

[0040] In view of this, the present application provides a multi-channel camera control circuit and its abnormal recovery method. In terms of circuit hardware, a single deserializer accesses multiple serializers respectively to control multiple camera modules. The processor in the circuit can independently control the power supply of the deserializer and each camera module; in terms of software flow, according to the current connection status, usage status of each camera, and the working status of the serializer, combined with the working status of the deserializer, to accurately judge the current working scenario, and thus adopt a suitable method to detect and handle abnormalities.

[0041] Embodiment 1

[0042] The embodiment of the present application provides a multi-channel camera control circuit. The multi-channel camera control circuit includes: a processor, a power control module, a deserializer, and multiple camera modules.

[0043] Among them, each camera module includes an independent serializer and an image sensor controlled by the serializer.

[0044] In the embodiment of the present application, the deserializer and the serializers of multiple camera modules are respectively and independently connected to the power control module; the serializers of multiple camera modules are respectively connected to the deserializer. Based on this, the processor can independently control the power supply of the deserializer and each camera module through the power control module.

[0045] Figure 1 is a schematic diagram of a multi-channel camera control circuit provided by an embodiment of the present application. See Figure 1U1 is a processor (such as an MPU), which is used to process the video data output by the deserializer and display it; U2 is a deserializer, which can be connected to multiple serializers at the same time for data processing; U3 is a power control module, which controls the power supply of U2, U4, U5, U6, and U7 modules respectively; U4, U5, U6, and U7 are independent camera modules, which integrate independent serializers and sensors; in terms of circuit design, processor U1 can independently control the power supply of the deserializer and each camera module.

[0046] In an embodiment of the present application, in response to detecting a camera abnormality, the processor may, based on the working status of the deserializer, the connection status of each camera module, the usage status of each camera module, and the working status of the serializer in each camera module, independently power-off reset and / or initialize the serializer corresponding to the target camera module to recover from the camera abnormality without affecting the camera module being used; or, independently power-off reset and / or initialize the deserializer to recover from the camera abnormality without affecting the camera module being used.

[0047] The usage status of the nth camera module is represented by variable Y n Indicates that Y n Indicates the number of applications that are using the nth camera module, where n is a positive integer.

[0048] The abnormal recovery process executed by the above processor will be introduced in detail in Example 2 and will not be repeated here.

[0049] The technical solution provided in the embodiment of the present application can be flexibly applied to various complex multi-channel camera abnormal scenarios, while promptly restoring the abnormal camera, ensuring that the display of the normal camera is not affected.

[0050] Example 2

[0051] An embodiment of the present application provides an abnormality recovery method for performing abnormality recovery on the above-mentioned multi-channel camera control circuit.

[0052] The following is combined with the above Figure 1 The multi-channel camera control circuit shown provides a detailed introduction to the abnormal recovery method provided in the embodiment of the present application. Figure 2 is a flowchart of an abnormal recovery method provided in an embodiment of the present application, refer to Figure 2 The method includes the following steps S1 and S2, which can be executed by the processor in the above circuit.

[0053] Step S1, real-time update of the working status of the deserializer in the circuit, the connection status of each camera module, the use status of each camera module and the working status of the serializer in each camera module.

[0054] Among them, the usage status of the nth camera module indicates the number of applications using the nth camera module, where n is a positive integer.

[0055] Exemplarily, when the system starts or any upper-layer application opens a camera, the detection and update of various parameters start immediately. For the process of opening the camera and updating the parameters, refer to the following (1) to (4).

[0056] (1) Connection status X of the camera module

[0057] Specifically, use the variable X n to indicate the connection status of the nth camera module. This connection status X n indicates whether the nth camera module has been connected to the processor. According to the variable X n , the current connection status of the camera can be confirmed. For example, X n being 1 indicates that it is connected, and X n being 0 indicates that it is not connected.

[0058] If it is already connected, proceed to the next step; otherwise, the application directly returns and gives a prompt. For example, it prompts that the camera is not connected, and there may be a hardware connection problem.

[0059] In a possible implementation, the physical connection / data connectivity status indication bits provided by the actual modules in the circuit can be directly used. For example, the Link lock and video lock status of the serializer can be directly used as the data source for the connection status X.

[0060] (2) Usage status Y of the camera module

[0061] Specifically, when an application opens / releases a camera module, the working status of each camera module is updated. In the embodiments of this application, the variable Y is used to count the applications using the current camera module. Y n represents the number of applications using the nth camera module, and Y n is an integer greater than or equal to 0.

[0062] Exemplarily, when the nth camera is not used by any camera, then Y n is 0; when application A uses the nth camera, then Y n = Y n + 1 to update Y n ; when application A no longer uses the nth camera, then Y n = Y n - 1 to update Y n . In some cases, when Y n obtains a negative value during the update process, by default, Yn is 0. Of course, Y n The specific value of and the update method can be defined according to actual requirements, and this application is not limited to the embodiments shown above.

[0063] (3) Working status of the serializer in the camera module

[0064] Specifically, the variable S n is used to represent the working status of the serializer in the nth camera module. Exemplarily, S n being 1 indicates normal operation, and S n being 0 indicates abnormal operation.

[0065] (4) Working status of the deserializer

[0066] Specifically, the working status of the deserializer can be obtained after detecting a camera abnormality. Exemplarily, the variable D is used to record the working status of the deserializer. D being 1 indicates normal operation, and D being 0 indicates abnormal operation. Similarly, if there are multiple deserializers, Dn is used to represent the working status of the nth deserializer. For example, Dn being 1 indicates that the nth deserializer is operating normally, and Dn being 0 indicates that the nth deserializer is operating abnormally.

[0067] Step S2, in response to detecting a camera abnormality, according to the working status of the deserializer, the connection status of each camera module, the usage status of each camera module, and the working status of the serializer in each camera module, recover the camera abnormality without affecting the camera module that is being used.

[0068] In a possible implementation manner, the abnormality includes: the camera abnormality includes one or more of a low-level error message return, an interruption of a low-level connection disconnection, and a camera not being connected. Of course, other abnormal states can be included, and this application is not limited thereto.

[0069] Figure 3 is a schematic flowchart of another abnormality recovery method provided by an embodiment of this application. The following will be combined with Figure 3 to introduce the specific process of recovering from abnormalities by distinguishing different abnormality scenarios in combination with various parameters.

[0070] In an embodiment of this application, when the application detects a camera abnormality, it enters the abnormality handling mechanism. Refer to Figure 3 , if no camera abnormality is detected and no abnormality occurs during use, update the usage status Y of the camera module (increase Y n by 1).

[0071] In an embodiment of this application, the abnormality handling mechanism can distinguish different abnormality scenarios and adopt appropriate recovery strategies.

[0072] In the embodiments of the present application, the camera anomaly can be recovered by separately performing a power-off reset on the target camera module and / or initializing the serializer corresponding to the target camera module; alternatively, the camera anomaly can be recovered by separately performing a power-off reset and / or initialization on the deserialzier. Specifically, step S2 includes S21 to S23.

[0073] S21. In response to detecting a camera anomaly when turning on the nth camera module, detect the working state D of the deserialzier.

[0074] S22. If the working state D of the deserialzier is normal, further make a judgment in combination with the connection state X of the nth camera n and the working state of the serializer of the nth camera.

[0075] Among them, if the working state of the deserialzier is normal, it is necessary to further determine which camera module causes the anomaly. The specific judgment results are as follows in situation A and situation B.

[0076] Situation A. If the working state D of the deserialzier is normal, the connection state X of the nth camera n and the working state S of the serializer of the nth camera n are normal, then initialize the serializer of the nth camera module.

[0077] Situation B. When the working state D of the deserialzier is normal, but the connection state X of the nth camera n and / or the working state S of the serializer n is abnormal:

[0078] Situation B1. If the usage state Y of the nth camera module n is 0, then perform a power-off reset on the nth camera module and then initialize the serializer of the nth camera module;

[0079] Situation B2. If the usage state Y of the nth camera module n is not 0, then wait until the nth camera module finishes being used.

[0080] Specifically, after waiting until the nth camera module finishes being used, release the occupied resources of the nth camera and then re-perform the above anomaly judgment. By this method, it is possible to avoid the camera module being used being turned off, which affects the normal display of the front end.

[0081] See Figure 3 , construct a judgment logic with variables, and use (D && S n &&(X n &(1<<n))) to determine whether it meets situation A. Further, if it does not meet situation A, then use (S n ||(Xn Use &(1<<n)) to determine whether it meets condition B.

[0082] S23. If the working state D of the deserialiser is abnormal, determine whether the usage status Y of all camera modules is 0.

[0083] 3-1. If the usage status of all camera modules is 0, after powering off and resetting all camera modules, check whether the working state of the deserialiser returns to normal; if the working state of the deserialiser does not return to normal, power off and reset the deserialiser and initialise it.

[0084] Specifically, when the deserialiser is abnormal and all cameras are not in use, directly powering off all cameras at this time will not affect normal display. If powering off and resetting all camera modules can make the deserialiser return to normal, exit the abnormal handling mechanism.

[0085] 3-2. If there is any camera module with a usage status not equal to 0, only power off and reset the camera modules with a usage status of 0, and then check whether the working state of the deserialiser returns to normal.

[0086] Specifically, when the deserialiser is abnormal and some cameras are in use, in order not to affect the normal display of the in-use camera modules at the front end, distinguish and process according to the usage status.

[0087] In the embodiment of the present application, if the working state of the deserialiser can return to normal by powering off and resetting the unused camera modules, continue to identify the camera module that caused the abnormality. Specifically, power off and reset each camera module in turn, identify the target camera with an abnormality, and after powering off and resetting the target camera, feedback the abnormal information.

[0088] If the working state of the deserialiser does not return to normal, wait until all camera modules have completed their use, and then execute step 3-1.

[0089] In the embodiment of the present application, after using the above abnormal recovery mechanism to recover the camera abnormality, release / close the occupied resources of the nth camera module, update the usage status of the nth camera, and reopen the nth camera.

[0090] Among them, updating the usage status of the nth camera is, for example, to execute: Y n -1.

[0091] In a possible implementation, in the case of repeated failure to recover after multiple power-off resets, abnormal reporting can be performed or a queue can be established for delayed loop detection to accommodate more abnormal situations.

[0092] This application can be flexibly applied to various complex multi-channel camera abnormal scenarios. While promptly recovering the abnormal cameras, it ensures that the display of normal cameras is not affected. Further, through logical judgment based on parameters in multiple dimensions, different abnormal recovery measures can be executed for combinations of cameras, serializers, and deserializers, thereby being compatible with complex scenarios such as multiple applications opening the same camera and a deserializer connecting multiple cameras for abnormal recovery.

[0093] This application provides a chip, which can be implemented as the processor in the above circuit and is used to execute the above abnormal recovery method. Figure 4 It is a schematic diagram of the hardware structure of a chip provided by this application according to an exemplary embodiment, as Figure 4 shown. The chip 40 can be implemented as the above digital signal processing chip ISP. The chip 40 includes a processor 41 and an interface circuit 42. Among them, the interface circuit 42 is used to receive instructions and transmit them to the processor 41. The processor 41 is coupled to a memory 43. The memory 43 is used to store program code. When the program code is executed by the processor 41, the operation steps of the above abnormal recovery method are realized by the chip system composed of the processor 41, the interface circuit 42, and the memory 43.

[0094] Optionally, there is at least one processor 41 in the chip system. It should be understood that in the embodiments of this application, the processor 41 can be a central processing unit (CPU) or other general-purpose processors. The processor 41 can also be one or more integrated circuits for implementing the solution of this application. For example, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0095] Optionally, the memory 43 in the chip system can also be one or more. The memory 43 can be integrated with the processor 41 or can be separately arranged from the processor 41, which is not limited in this application. Among them, the memory 43 can include a read-only memory and a random access memory, and provide instructions and data to the processor 41. The memory 43 can also include a non-volatile random access memory. The memory 43 can also be a volatile memory, or can include both volatile and non-volatile memories.

[0096] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. Exemplarily, the chip system can be an FPGA, can be an ASIC, can also be an SoC, can also be a CPU, can also be a network processor (NP), can also be a digital signal processing circuit (DSP), can also be a micro controller unit (MCU), can also be a PLD, or other integrated chips.

[0097] This application also provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of the above-mentioned exception recovery method in the embodiments of this application.

[0098] If the modules / units integrated in the computer unit are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned method embodiments of this application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0099] Although the present application has been specifically shown and described in connection with preferred embodiments, those skilled in the art should understand that various changes may be made to the present application in form and detail without departing from the spirit and scope of the present application as defined by the appended claims, and all such changes are within the scope of protection of the present application.

Claims

1. A multi-channel camera control circuit, characterized in that, the circuit includes: a processor, a power control module, a deserializer, and multiple camera modules; each of the camera modules includes an independent serializer; the deserializer and the serializers of the multiple camera modules are respectively and independently connected to the power control module; the serializers of the multiple camera modules are respectively connected to the deserializer; the processor is configured to: separately control the power supply of the deserializer and each camera module through the power control module; the processor is further configured to: in response to detecting a camera anomaly, according to the working state of the deserializer, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module, without affecting the camera modules that are being used, separately power off and reset the target camera module and / or initialize the serializer corresponding to the target camera module to recover from the camera anomaly; or, without affecting the camera modules that are being used, separately power off and reset the deserializer and / or initialize it to recover from the camera anomaly; wherein, the usage state of the nth camera module indicates the number of applications that are using the nth camera module, and n is a positive integer.

2. An anomaly recovery method for the multi-channel camera control circuit according to claim 1, the method includes: S1. Continuously update the working state of the deserializer in the circuit, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module; S2. In response to detecting a camera anomaly, according to the working state of the deserializer, the connection state of each camera module, the usage state of each camera module, and the working state of the serializer in each camera module, without affecting the camera modules that are being used, separately power off and reset the target camera module and / or initialize the serializer corresponding to the target camera module to recover from the camera anomaly; or, without affecting the camera modules that are being used, separately power off and reset the deserializer and / or initialize it to recover from the camera anomaly; wherein, the usage state of the nth camera module indicates the number of applications that are using the nth camera module, and n is a positive integer.

3. The anomaly recovery method according to claim 2, characterized in that, the step S2 includes: S21. In response to detecting a camera anomaly when turning on the nth camera module, detect the working state of the deserializer; S22. If the operating state of the deserialiser is normal, the connection state X of the nth camera n and the operating state S of the serializer of the nth camera n are normal, then initialise the serializer of the nth camera module; When the working state of the deserialiser is normal, but the connection state X of the nth camera n and / or the working state S of the serializer n is abnormal: If the usage status Y of the nth camera module n is 0, after powering off and resetting the nth camera module, initialize the serializer of the nth camera module; If the usage status Y of the nth camera module n is not 0, wait until the nth camera module finishes being used.

4. The anomaly recovery method according to claim 2, characterized in that, the method further includes: S23. If the working state of the deserializer is abnormal, determine whether the usage states of all camera modules are all 0: 3-1. If the usage states of all camera modules are all 0, then power off and reset all camera modules, and then detect whether the working state of the deserializer returns to normal; if the working state of the deserializer does not return to normal, then power off and reset the deserializer and initialize it; 3-2. If there is any camera module with a usage status other than 0, only the camera modules with a usage status of 0 are powered off and reset, and then it is detected whether the working status of the deserialiser returns to normal; If the working status of the deserialiser returns to normal, each camera module is powered off and reset in sequence to identify the target camera with an abnormality. After powering off and resetting the target camera, abnormal information is fed back; If the working status of the deserialiser does not return to normal, after all camera modules have completed their usage, step 3-1 is executed.

5. The abnormality recovery method according to claim 3, characterised in that after recovering from the camera abnormality, the method further includes: releasing / closing the occupied resources of the nth camera module, updating the usage status of the nth camera, and reopening the nth camera.

6. The abnormality recovery method according to claim 2, characterised in that the camera abnormality includes one or more of: return of error information at the bottom layer, interruption of the bottom layer connection being disconnected, and the camera not being connected.

7. A computer-readable storage medium, in which at least one segment of program is stored, and the at least one segment of program is executed by a processor to implement the abnormality recovery method according to any one of claims 2 to 6.

8. A chip, the chip includes a processor and an interface circuit, and the processor is used to execute the abnormality recovery method according to any one of claims 2 to 6.

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