Driving image recording method, domain controller of vehicle, vehicle and storage medium

Abstract

The invention discloses a driving image recording method, a domain controller of a vehicle, the vehicle and a storage medium. According to the method, the monitoring image of the vehicle is obtained through the target camera of the multiplex vehicle, and then the monitoring image and the state information of the vehicle are fused to obtain the driving record influence of the vehicle. Therefore, there is no need to additionally configure a corresponding camera in order to obtain the driving record image of the vehicle, thereby saving the hardware cost and internal space of the vehicle, and reducing the power consumption of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a driving image recording method, a vehicle domain controller, a vehicle, and a storage medium. Background Art

[0002] On a vehicle equipped with an intelligent driving function, multiple cameras can be configured at the same time. For example, multiple cameras may include a driving recorder (Digital Video Recorder, DVR) camera and a front-view camera, surround-view camera, etc. for assisted driving. The DVR camera is used to capture the video image in front of the vehicle, store it in a storage device in a set video format, and perform later export and video preview. The camera used for assisted driving mainly captures images of a specific orientation of the vehicle, performs algorithm recognition and processing, and is used to support the operation of the intelligent driving function. Usually, the installation position, resolution, and frame rate of the DVR camera are similar to those of one or more target cameras (such as a front-view camera) used for assisted driving. In this way, when the DVR camera and the target camera are configured at the same time, the vehicle hardware cost will increase, the vehicle operating power consumption will increase, and the field of view of the vehicle's front windshield will be affected. Summary of the Invention

[0003] The embodiments of the present application provide a driving image recording method, a vehicle domain controller, a vehicle, and a storage medium, which reduce the vehicle's operating power consumption and hardware costs, thereby at least partially solving the above-mentioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of the present application, a driving image recording method is provided, comprising:

[0005] Acquire a monitoring image of the vehicle through a target camera of the vehicle;

[0006] The vehicle status information is fused with the monitoring image to obtain a driving record image of the vehicle.

[0007] Optionally, fusing the vehicle status information with the monitoring image to obtain a driving record image of the vehicle includes:

[0008] When receiving each frame of monitoring image from the target camera, obtaining the status information of the vehicle;

[0009] generating a watermark image including the status information according to the monitoring image and the status information;

[0010] The watermark image is spliced with the monitoring image to obtain the driving record image.

[0011] Optionally, the step of splicing the watermark image with the surveillance image to obtain the driving record image includes:

[0012] converting the monitoring image in a first format into a target image in a second format;

[0013] The watermark image is spliced with the target image to obtain the driving record image.

[0014] Optionally, the step of splicing the watermark image with the target image to obtain the driving record image further includes:

[0015] Performing scaling processing on the target image to obtain a scaled image;

[0016] cropping the zoomed image at a first set position;

[0017] The watermark image is spliced to the first set position.

[0018] Optionally, the step of splicing the watermark image with the surveillance image to obtain the driving record image further includes:

[0019] The second set position of the zoomed image is cropped to remove the hood image portion of the vehicle.

[0020] Optionally, the step of splicing the watermark image with the surveillance image to obtain the driving record image further includes:

[0021] A preset image is spliced at the second set position of the zoomed image.

[0022] Optionally, the first format is a raw image coded data (RAW) format, and the second format is a luminance and chrominance separation (YUV) format.

[0023] Optionally, the status information includes numerical information and text information, and generating a watermark image including the status information based on the monitoring image and the status information includes:

[0024] Convert the numerical information in the status information into corresponding color identifiers according to a preset color mapping table;

[0025] The color identifier and the text are combined to generate the watermark image, wherein the colors in the preset color mapping table are associated with the degree of danger of the vehicle status.

[0026] Optionally, generating a watermark image including the status information based on the monitoring image and the status information includes:

[0027] dividing the vehicle's status information into primary status information and secondary status information;

[0028] The primary status information and the secondary status information are displayed in the watermark image with different font sizes or transparencies, wherein the primary status information includes preset information related to driving safety.

[0029] Optionally, before obtaining the vehicle status information, the method further includes:

[0030] receiving a status signal of the vehicle in real time;

[0031] When the status signal of the vehicle changes, the status information of the vehicle is updated and stored in the local storage space of the vehicle.

[0032] Optionally, the method further includes:

[0033] Performing video encoding and packaging processing on the driving record image;

[0034] The driving record image after video encoding and packaging processing is sent to the intelligent network system of the vehicle.

[0035] Optionally, the method further includes:

[0036] The driving record image is analyzed by the intelligent network system and saved in a preset video format.

[0037] According to a second aspect of the present application, a domain controller for a vehicle is provided, comprising:

[0038] a memory configured to store instructions; and

[0039] The processor is configured to call the instructions from the memory and implement the above-mentioned driving image recording method when executing the instructions.

[0040] According to a third aspect of the present application, there is provided a vehicle, comprising:

[0041] Target camera, used to assist the vehicle in performing corresponding recognition functions;

[0042] The domain controller of the vehicle communicates with the target camera.

[0043] Optionally, the vehicle further includes:

[0044] The intelligent network connection system communicates with the domain controller of the vehicle and is used to play the driving record image of the vehicle.

[0045] According to a fourth aspect of the present application, a machine-readable storage medium is provided, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned driving image recording method.

[0046] In summary, this application first obtains the vehicle's monitoring image by reusing the vehicle's target camera, and then fuses the monitoring image with the vehicle's status information to obtain the vehicle's driving record image. This eliminates the need to configure a separate camera to obtain the vehicle's driving record image, saving vehicle hardware costs and internal space, and reducing vehicle power consumption.

[0047] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0049] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0050] Figure 1 A schematic diagram of an application environment of a driving image recording method provided in an embodiment of the present application;

[0051] Figure 2 A schematic flow chart of a driving image recording method provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a front-view camera video acquisition link provided in a specific embodiment of the present application;

[0053] Figure 4 A flowchart of a driving image recording method provided in a specific embodiment of the present application;

[0054] Figure 5 This is a structural block diagram of a domain controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0056] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically qualified. In this application, the word "exemplary" is used to mean "serving as an example, illustration, or illustration." Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is provided to enable anyone skilled in the art to implement and use the present application. In the following description, details are listed for illustrative purposes. It should be understood that one of ordinary skill in the art will recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

[0057] Typically, in order to obtain driving recording images of a vehicle, a DVR camera is usually configured as a video acquisition for the driving recorder. The embodiment of the present application takes into account that using a DVR camera alone will increase the hardware cost and power consumption of the vehicle. Since the field of view or resolution of the DVR camera is similar to that of cameras with other functions on the vehicle, it is possible to reuse cameras with other functions on the vehicle so that the vehicle does not need to install a dedicated DVR camera. The image and video distribution mechanism can be used to simultaneously meet the needs of DVR recording and other functions such as assisted intelligent driving, thereby reducing the hardware cost of the vehicle. In order to more clearly describe the driving image recording method of the embodiment of the present application, the application environment of the driving image recording method is first explained.

[0058] Figure 1 Schematic diagram of the application environment of a driving image recording method provided in an embodiment of the present application. Figure 1 As shown, the driving image recording method is applied to a vehicle 100. The vehicle in the embodiment of the present application can be a fuel-powered vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and this application does not specifically limit this. The vehicle 100 can include a domain controller 110, a target camera 120, and an intelligent network connection system 130. The domain controller 110 communicates with the target camera 120 and the intelligent network connection system 130 respectively.

[0059] The domain controller 110 is a centralized computing unit in the vehicle, responsible for managing and coordinating multiple electronic control units in specific functional areas, integrating multiple related functions into a single controller to improve efficiency and simplify the vehicle's communication structure. The target camera 120 refers to a camera already on the vehicle that can be used to obtain information about the surrounding environment while the vehicle is in motion, assisting the vehicle in performing corresponding recognition functions. For example, it can be the vehicle's intelligent driving camera. The intelligent driving camera can be used to assist the vehicle's autonomous driving functions, such as recognizing road signs and detecting the distance to the vehicle ahead. The intelligent connected system 130 refers to a system that connects the vehicle to the outside world via network technology, such as the Android platform. In related technologies, the intelligent connected system typically receives image data from a DVR camera, processes the image, and saves it in a specific format as a driving video, which is then played back. However, in the embodiments of the present application, the image data processing process is completed entirely by the domain controller 110. The intelligent connected system 130 only needs to parse and play the driving video. This reduces the computing pressure on the intelligent connected system and improves the stability and efficiency of image processing.

[0060] Based on Figure 1 The application environment, Figure 2 The flowchart of a driving image recording method is provided. Figure 2 As shown, the driving image recording method may include steps 201-202, which are described in detail below.

[0061] Step 201: Acquire a monitoring image of the vehicle through the vehicle's target camera.

[0062] Step 202: Fuse the vehicle status information with the monitoring image to obtain a driving record image of the vehicle.

[0063] In the embodiments of the present application, the monitoring image refers to the image of the vehicle's surroundings. The target camera can be used to assist the vehicle in performing corresponding recognition functions, such as identifying road signs, detecting obstacles in the vehicle's surroundings, etc. As an example, the target camera can be the vehicle's front-view camera, rear-view camera, or panoramic camera. The vehicle's status information may include, but is not limited to, the vehicle's driving speed, driving direction, braking status, turn signal status, and other information. For example, the vehicle speed is the speed value of the vehicle during driving, which is obtained by the vehicle's speed sensor. The braking status can be no braking, light braking, or heavy braking, etc., which is obtained through the sensors of the braking system. This fused driving record image contains more information about the vehicle's own status, which is of great significance for accident analysis, vehicle driving records, etc.

[0064] In summary, this application first obtains the vehicle's monitoring image by reusing the vehicle's target camera, and then fuses the monitoring image with the vehicle's status information to obtain the vehicle's driving record image. This eliminates the need to configure a separate camera to obtain the vehicle's driving record image, saving vehicle hardware costs and internal space, and reducing vehicle power consumption.

[0065] In this embodiment of the present application, the vehicle status signal is the vehicle's current driving status signal. Therefore, before step 201, the vehicle status signal can be received in real time. When the vehicle status signal changes, the vehicle status information is updated and stored in the vehicle's local storage space.

[0066] In the embodiments of the present application, vehicle status signals are generated by various sensors and control systems of the vehicle. For example, the speed sensor generates a speed status signal, the brake system generates a brake status signal, and the steering system generates a steering angle status signal. Real-time reception of these status signals is intended to promptly obtain the latest vehicle status.

[0067] When any status signal changes, for example, when the vehicle accelerates from a standstill and the speed status signal changes, the vehicle's status information needs to be updated. The updated status information will be stored in the vehicle's local storage space. This local storage space can be a storage device such as a hard disk or flash memory inside the vehicle, or it can be in the memory of the vehicle system for quick and easy access. For example, the vehicle was originally in a stopped state with a speed of 0 km / h. When the vehicle starts and accelerates to 30 km / h, the speed status signal changes. The speed value in the vehicle's status information will be updated to 30 km / h and stored in the local storage space so that accurate vehicle status information can be used later when generating driving record images. In one example, the vehicle status signal can be received through OpenCV and updated to the vehicle's local storage space.

[0068] In step 202, vehicle status information is acquired for each surveillance image frame received from the target camera. That is, each time the target camera captures a surveillance image frame, the acquisition of vehicle status information is triggered. A watermark image containing the status information is then generated based on the surveillance image and the status information. Vehicle status information is acquired in real time, ensuring that each frame of the driving record contains the accurate vehicle status. The generated watermark image is an image containing vehicle status information. For example, information such as vehicle speed and braking status is arranged in a specific format and layout on a blank image; this image serves as the watermark image. Finally, the watermark image is spliced with the surveillance image to generate the driving record image. There are various ways to generate a watermark image. For example, vehicle status information can be embedded in a blank image in the form of text or a specific code according to a pre-defined template. This watermark image is then spliced with the surveillance image. For example, if the surveillance image is a view of the road ahead of the vehicle, the watermark image can be spliced in a corner of the image to form a driving record image containing the vehicle status information.

[0069] In an embodiment of the present application, since the formats of the images contained in the monitoring image and the driving record image are different, it is necessary to convert the format of the monitoring image. Specifically, the monitoring image in the first format can be converted into a target image in the second format. The watermark image is then spliced with the target image to obtain the driving record image. Among them, the first format may be the format of the original output of the camera, such as the raw image encoding data (RAW) format. The RAW format is a raw data format directly output by an image sensor, which contains the most original image information without too much post-processing, such as no color correction, compression, etc. The monitoring image in the RAW format contains rich original image data and a large amount of data, but it may not be convenient to directly splice it with the watermark image. Convert it into a second format, such as the luminance and chrominance separation (YUV) format. The YUV format is a color space format commonly used in video processing. It represents luminance information (Y) and chrominance information (U, V) separately. This format is conducive to subsequent image processing operations.

[0070] As an example, the first format can be RAW format, and the second format can be YUV format. Specifically, converting a RAW surveillance image into a YUV target image requires a series of data conversion operations, including color space conversion and re-encoding of the image data. After the conversion is complete, the watermark image is spliced with the target image. For example, an area is reserved at a specific location (such as the bottom or top edge) of the target image, and the watermark image is placed within this area according to a predetermined size and layout, thereby generating a driving record image. The YUV format has many advantages in video processing, such as the ability to adopt different compression strategies based on the different sensitivities of the human eye to brightness and color. Converting the RAW format to YUV requires complex mathematical calculations, such as converting the color value of each pixel in the RAW format to the corresponding brightness and color values in the YUV format based on color space conversion formulas. This format conversion facilitates subsequent image processing and splicing with the watermark image.

[0071] In an embodiment of the present application, if the resolution of the target camera is greater than the resolution required for the driving recording image, the target image needs to be scaled and then image processed to make the image captured by the target camera match the image of the required driving recording image.

[0072] As an example, the target image can be scaled to obtain a scaled image. Scaling the target image is done to better fit the watermark image size or to meet subsequent storage and display requirements. For example, if the target image resolution is too high, it may consume excessive resources when displayed or stored on some devices. Scaling can reduce the image resolution. Suppose the original resolution of the target image is 3840x2160 pixels, and after scaling, it becomes 1920x1080 pixels.

[0073] Then, the scaled image is cropped at a first set position. The first set position is set according to a predetermined rule, for example, the upper left corner or other top area of the image. The cropping operation can remove unnecessary parts of the image or make room for a watermark image.

[0074] Finally, the watermark image is stitched to the first set position. For example, the watermark image containing information such as vehicle speed and brake status is accurately placed at the cropped position, making the entire driving record image look more regular and the information layout more reasonable.

[0075] As another example, the second set position of the zoomed image can also be cropped to remove the hood image portion of the vehicle. The purpose of cropping the second set position of the zoomed image is to remove a specific image portion, which may be the hood image portion of the vehicle in the embodiment of the present application. In some cases, the hood of the vehicle may be unnecessary information in the monitoring image, or its presence may affect the display of other important information. For example, when focusing on the road conditions in front of the vehicle, other vehicles or traffic signs, the hood portion may block part of the line of sight or appear redundant in the picture. The second set position is determined based on the approximate position of the hood in the image, and this position is determined by image recognition technology or according to a pre-set coordinate range. After cropping this position, the driving record image can be more focused on the useful information portion.

[0076] Then, a preset image is spliced at the second set position of the zoomed image. Splicing the preset image at the second set position after cropping the hood image portion is intended to supplement some useful information or improve the visual effect of the image. For example, the preset image can be an identification related to vehicle driving, such as the logo of the company to which the vehicle belongs or an icon indicating that the driving recorder is working properly, such as an icon with a black border. This preset image can be pre-stored in the vehicle's storage system, and when performing the splicing operation, it is placed at the second set position according to a predetermined size and format. This can not only utilize the space originally occupied by the hood, but also add additional identification information to the driving record image.

[0077] In embodiments of the present application, the status information may include both numerical and textual information. Therefore, in one example, the numerical information in the status information may be converted into corresponding color identifiers based on a preset color mapping table. The color identifiers and text are then combined to generate a watermark image, where the colors in the preset color mapping table are associated with the degree of danger of the vehicle's status.

[0078] Numerical information in vehicle status information includes speed and brake pressure. A preset color mapping table is a pre-defined mapping table that associates specific colors with different numerical ranges. For example, when the vehicle speed is within a safe range, such as less than 60 km / h, the corresponding color is green; when the speed is in a higher-risk range, such as over 100 km / h, the corresponding color is red. This color coding is associated with the degree of danger of the vehicle's status, providing a visual representation of the vehicle's condition. Textual information can include messages such as "Speed: XX km / h" or "Brake: Inactive." The color coding converted from the numerical information is combined with the textual information to generate a watermark image. For example, if the color coding for the speed value is red and the text reads "Speed: 120 km / h," then the text "Speed: 120 km / h" will appear in red in the watermark image, making it immediately clear in the driving video that the vehicle was traveling at a high speed, potentially posing a risk.

[0079] As another example, vehicle status information can be divided into primary and secondary status information. This classification helps highlight important information in the watermark image. Primary status information is closely related to driving safety, such as the vehicle's speed, brake status, and turn signal status. Secondary status information can be information that is less impactful to driving safety, such as the vehicle's air conditioning and radio status.

[0080] Then, the primary status information and secondary status information are displayed in the watermark image with different font sizes or transparencies, where the primary status information includes preset information related to driving safety. As an example, different font sizes or transparencies can be used to distinguish between primary and secondary status information when generating the watermark image. For example, for primary status information, such as speed "80 km / h" and brake "activated", a larger font or higher transparency (such as opaque) can be used for display; while for secondary status information, such as air conditioning "cooling mode", a smaller font or lower transparency (such as translucent) can be used for display. In this way, in the driving record image, the viewer can first focus on the important information related to driving safety, while also seeing other secondary status information.

[0081] In an embodiment of the present application, after the domain controller generates a driving record image, the driving record image can be video encoded and encapsulated. Video encoding is the process of compressing and converting the driving record image according to a specific coding standard. Common video coding standards include H.264, H.265, etc. Video encoding can reduce the amount of image data for easy storage and transmission. For example, H.264 is a new generation of digital video compression format proposed by the International Organization for Standardization (ISO) and the International Telecommunication Union (ITU) after MPEG4. The H.264 coding standard can compress the original driving record image, remove redundant information in the image, and greatly reduce the amount of data while ensuring a certain image quality. Encapsulation processing is to combine the encoded video data with related metadata (such as timestamp, resolution, etc.) in a certain format. For example, the encoded driving record image is encapsulated with shooting timestamp, video resolution and other information into a video file in a specific format, such as mp4 format.

[0082] The encoded and packaged driving video is then sent to the vehicle's intelligent connected system. The vehicle's intelligent connected system can be a system that integrates communication and data processing functions. It can receive the driving video and perform further processing, such as uploading it to a cloud server or exchanging data with other vehicles.

[0083] Finally, the driving record image is parsed by the intelligent network system and saved in the preset video format. After the intelligent network system receives the driving record image, it needs to be parsed. The parsing process includes operations such as decompression of video encoding and extraction of encapsulated metadata. For example, if the driving record image is encoded using H.264 and encapsulated in mp4 format, the metadata in the mp4 format, such as the video resolution, frame rate, etc., are extracted at the same time. Then it is saved in the preset video format. The preset video format can be a format suitable for local storage or subsequent analysis in the vehicle, such as AVI format. The parsed driving record image is converted to AVI format and saved to the local storage device of the vehicle for subsequent viewing, analysis, or use as evidence.

[0084] The following describes a method for recording driving images by multiplexing a front-view camera, taking the front-view camera as an example.

[0085] Figure 3 This is a schematic diagram of a front-view camera video acquisition link provided in a specific embodiment of the present application. Figure 3As shown in the figure, in one specific embodiment, to implement DVR multiplexing with the forward-looking camera for intelligent driving, the vehicle no longer has a DVR camera installed. Instead, the intelligent driving domain controller performs image processing and video encoding, and sends the video to the intelligent connected system via RTP. The intelligent connected system directly saves the RTP video in MP4 format, eliminating the need for image processing.

[0086] The acquisition link may include: forward-looking camera, Mobile Industry Processor Interface (MIPI) reception, Image Signal Processing (ISP), vehicle status signal release, OpenCV, algorithm recognition, image cropping and splicing, video encoder, Real-Time Transport Protocol (RTP) video transmission, and intelligent connected system receiving RTP video.

[0087] One of the sub-links starts with the front-view camera generating an original RAW format image of the environment in front of the vehicle. The MIPI receiver converts the serial signal generated by the front-view camera into a MIPI format signal. Then, the ISP converts the original RAW image in MIPI format into a YUV format image according to the ISP parameter configuration. The other sub-link starts with the release of the vehicle status signal, reading the vehicle driving status signal from the vehicle's control area network (Controller Area Network, CAN), parsing it, and publishing it through the data-centric distributed communication protocol (Data Distribution Service, DDS). OpenCV generates a 1920*70 size image, adds rendering-related icons according to the vehicle's driving status, and generates a black background image at a rate of 10 frames per second.

[0088] For the first sublink, after obtaining the YUV format image, algorithms can be used for recognition. For example, the intelligent driving algorithm can perform target recognition on the YUV image generated by the front-view camera to identify obstacles, lane markings, road traffic signs, and other information. Furthermore, image scaling, cropping, and splicing can be performed. The original front-view camera image is scaled from 3840*2160 to 1920*1080, the top and bottom edges are cropped, and an icon watermark image is obtained from OpenCV and spliced onto the top edge. The bottom edge is then filled with black. The video encoder then compresses and encodes the YUV format image, outputting an H.264 video format. This compression significantly reduces bandwidth usage, making it easier to save to disk and transmit over the network. The H.264 video frames are then encapsulated using the RTP protocol for network transmission. At this point, the intelligent connected system can receive the RTP video stream, for example, from the intelligent driving domain controller via Ethernet and save it locally in MP4 format.

[0089] Based on the above link structure, Figure 4 This is a flow chart of a method for recording driving images provided in a specific embodiment of the present application. Figure 4 As shown, the driving image recording process includes steps 401-410.

[0090] Step 401: The intelligent driving domain controller reads the vehicle driving status signal from the vehicle's CAN network, parses the relevant signal displayed on the DVR interface, and publishes it through DDS.

[0091] Step 402: OpenCV receives the vehicle status signal via DDS and updates it locally when a change in the signal is detected.

[0092] Step 403: After the original RAW image of the front-view camera enters the intelligent driving domain controller, the ISP is used to convert the RAW image into a YUV image.

[0093] Step 404: The original YUV image of the front camera is scaled from 3840*2160 to 1920*1080 to prevent the DVR from saving the video in a time limit that does not meet the requirement due to the video file being too large.

[0094] Step 405: Crop the top area of the scaled 1920*1080 image by 70% to reserve space for the icon watermark. The bottom area is blocked by the hood and has no valid image, so crop the corresponding height as needed.

[0095] Step 406: Generate a corresponding icon watermark based on the latest vehicle status signal stored locally, and generate a 70-degree image. The icon includes information such as the vehicle frame number, vehicle speed, time, seat belt, turn signal, gear position, high and low beam, fog light, low light, accelerator, brake, tire pressure, etc.

[0096] Step 407: When the intelligent driving domain controller receives each frame of the front view image, it obtains the latest generated watermark image from the OpenCV module, splices it at the top, and splices a black border at the bottom.

[0097] Step 408: Perform H.264 video encoding on the spliced image, encapsulate it into an RTP message, and send it to the intelligent network system via Ethernet.

[0098] Step 409: After receiving the RTP video, the intelligent network system parses the H.264 format video from the RTP message.

[0099] Step 410: Encapsulate the H.264 video into MP4 format and save it to the local hard disk.

[0100] As can be seen from this specific embodiment, by reusing the DVR with the forward-looking camera for intelligent driving, the vehicle no longer needs to install a dedicated DVR camera, reducing vehicle hardware costs. Furthermore, the DVR's image processing and rendering can reuse the resources of the intelligent driving domain controller, reducing resource consumption of the intelligent connected system. Furthermore, reducing the number of DVR cameras also reduces power consumption, improving vehicle range, and allowing for a smaller lane departure protection cover, optimizing the front windshield field of view.

[0101] Figure 5 This is a structural block diagram of a domain controller 110 provided in an embodiment of the present application. Figure 5 As shown, the domain controller 110 may include a memory 501 and a processor 502. The memory 501 is configured to store instructions. The processor 502 is configured to call instructions from the memory 501 and implement any of the driving image recording methods in the embodiments of the present application when executing the instructions.

[0102] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned driving image recording method.

[0103] Since the instructions stored in the domain controller and the machine-readable storage medium can execute the steps in any of the driving image recording methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any of the driving image recording methods provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0104] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0105] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0108] In a typical configuration, a computing device includes one or more processors (Central Processing Unit, CPU), input / output interfaces, network interfaces, and memory.

[0109] Memory may include non-permanent memory in a computer-readable medium, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash random access memory (flash RAM). Memory is an example of a computer-readable medium.

[0110] Computer-readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random-access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated communication signals and carrier waves.

[0111] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0112] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A driving image recording method, characterized in that: include: Acquire a monitoring image of the vehicle through a target camera of the vehicle; The vehicle status information is fused with the monitoring image to obtain a driving record image of the vehicle.

2. The driving image recording method according to claim 1, characterized in that: The step of fusing the vehicle status information with the monitoring image to obtain a driving record image of the vehicle includes: When receiving each frame of monitoring image from the target camera, obtaining the status information of the vehicle; generating a watermark image including the status information according to the monitoring image and the status information; The watermark image is spliced with the monitoring image to obtain the driving record image.

3. The driving image recording method according to claim 2, characterized in that: The step of splicing the watermark image with the surveillance image to obtain the driving record image includes: converting the monitoring image in a first format into a target image in a second format; The watermark image is spliced with the target image to obtain the driving record image.

4. The driving image recording method according to claim 3, characterized in that: The step of splicing the watermark image with the target image to obtain the driving record image further includes: Performing scaling processing on the target image to obtain a scaled image; cropping the zoomed image at a first set position; The watermark image is spliced to the first set position.

5. The driving image recording method according to claim 4, characterized in that: The step of splicing the watermark image with the surveillance image to obtain the driving record image further includes: The second set position of the zoomed image is cropped to remove the hood image portion of the vehicle.

6. The driving image recording method according to claim 5, characterized in that: The step of splicing the watermark image with the surveillance image to obtain the driving record image further includes: A preset image is spliced at the second set position of the zoomed image.

7. The driving image recording method according to claim 3, characterized in that: The first format is a raw image coded data (RAW) format, and the second format is a luminance and chrominance separation (YUV) format.

8. The driving image recording method according to claim 2, characterized in that: The state information includes numerical information and text information, and generating a watermark image including the state information based on the monitoring image and the state information includes: Convert the numerical information in the status information into corresponding color identifiers according to a preset color mapping table; The color identifier and the text are combined to generate the watermark image, wherein the colors in the preset color mapping table are associated with the degree of danger of the vehicle status.

9. The driving image recording method according to claim 2, characterized in that: The step of generating a watermark image including the status information according to the monitoring image and the status information includes: dividing the vehicle's status information into primary status information and secondary status information; The primary status information and the secondary status information are displayed in the watermark image with different font sizes or transparencies, wherein the primary status information includes preset information related to driving safety.

10. The driving image recording method according to claim 2, characterized in that: Before obtaining the vehicle status information, the method further includes: receiving a status signal of the vehicle in real time; When the status signal of the vehicle changes, the status information of the vehicle is updated and stored in the local storage space of the vehicle.

11. The driving image recording method according to any one of claims 1 to 10, characterized in that: Also includes: Performing video encoding and packaging processing on the driving record image; The driving record image after video encoding and packaging processing is sent to the intelligent network system of the vehicle.

12. The driving image recording method according to claim 11, characterized in that: Also includes: The driving record image is analyzed by the intelligent network connection system and saved in a preset video format.

13. A domain controller for a vehicle, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instructions from the memory and implement the driving image recording method according to any one of claims 1 to 12 when executing the instructions.

14. A vehicle, characterized in that: include: Target camera, used to assist the vehicle in performing corresponding recognition functions; The domain controller of the vehicle of claim 13, in communication with the target camera.

15. The vehicle according to claim 14, characterized in that Also includes: The intelligent network connection system communicates with the domain controller of the vehicle and is used to play the driving record image of the vehicle.

16. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, which, when executed by a processor, enable the processor to be configured to execute the driving image recording method according to any one of claims 1 to 12.

Images