Vehicle-mounted system and vehicle

Abstract

The invention relates to a vehicle-mounted system and a vehicle. The vehicle-mounted system comprises an image acquisition device; the state machine is used for detecting a vehicle operation mode and outputting state signals used for representing the vehicle operation mode, and different state signals correspond to different image acquisition device control rights; the first control chip is respectively connected with the image acquisition device and the state machine and is used for receiving the state signal; under the condition that the control right of the image acquisition device corresponding to the state signal is the first control chip, the image acquisition device is controlled; the second control chip is respectively connected with the image acquisition device and the state machine and is used for receiving the state signal; and controlling the image acquisition device under the condition that the control right of the image acquisition device corresponding to the state signal is the second control chip. According to the technical scheme, the image acquisition device can stably and quickly output the image.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more specifically, to an in-vehicle system and a vehicle. Background Technology

[0002] Image acquisition devices are installed in all types of vehicles. Based on the images captured by these devices, functions such as cockpit image display and intelligent driving perception fusion can be achieved. Furthermore, corresponding control chips are usually configured for these image acquisition devices to control them. Summary of the Invention

[0003] The purpose of this disclosure is to provide an in-vehicle system and vehicle that adjusts the single control method of the image acquisition device to a more flexible control method with switchable control, thereby ensuring that the image acquisition device outputs images stably and quickly.

[0004] To achieve the above objectives, in a first aspect, this disclosure provides an in-vehicle system, comprising: an image acquisition device; a state machine for detecting a vehicle operating mode and outputting a state signal characterizing the vehicle operating mode, wherein different state signals correspond to different control rights of the image acquisition device; a first control chip connected to the image acquisition device and the state machine respectively, for receiving the state signal; and controlling the image acquisition device when the control rights of the image acquisition device corresponding to the state signal are held by the first control chip; and a second control chip connected to the image acquisition device and the state machine respectively, for receiving the state signal; and controlling the image acquisition device when the control rights of the image acquisition device corresponding to the state signal are held by the second control chip.

[0005] Optionally, the vehicle system further includes: a display device connected to the first control chip; the image acquisition device for outputting acquired images; the first control chip for receiving images acquired by the image acquisition device and outputting them to the display device, the display device for displaying the received images; and the second control chip for receiving images acquired by the image acquisition device and performing environmental perception operations of the intelligent driving system based on the images acquired by the image acquisition device.

[0006] Optionally, the first control chip is further configured to: establish a control signal transmission link with the image acquisition device when the vehicle operation mode represented by the status signal is a pre-start mode, and transmit control signals to the image acquisition device through the control signal transmission link, wherein the control signals include: signals for initializing the image acquisition device.

[0007] Optionally, the second control chip is further configured to: establish a control signal transmission link with the image acquisition device when the vehicle operating mode represented by the status signal is a full-function mode, and transmit control signals to the image acquisition device through the control signal transmission link.

[0008] Optionally, the image acquisition device includes a control port, the control port being connected to a first terminal of a control switch, a second terminal of the control switch being connected to a first control chip, and a third terminal of the control switch being connected to a second control chip; the second control chip is further configured to: send a control switching command to the first control chip when the vehicle operating mode represented by the status signal is full-function mode and the first terminal of the control switch is connected to the second terminal; the first control chip is further configured to: receive the control switching command; and, in response to the image acquisition device meeting the control switching conditions, send a control switching permission command to the second control chip; the second control chip is further configured to: in response to receiving the control switching permission command, operate the control switch to switch from connection between the first terminal and the second terminal to connection between the first terminal and the third terminal.

[0009] Optionally, the second control chip is further configured to: in response to receiving the instruction to allow control switching, determine a target time window in which the image acquisition device does not output valid image frames; within the target time window, operate the control switch to switch from connecting the first end to the second end to connecting the first end to the third end.

[0010] Optionally, the first control chip is further configured to send a control signal to the image acquisition device based on a preset control signal sending rule when the first control chip has control over the image acquisition device corresponding to the status signal; the second control chip is further configured to send a control signal to the image acquisition device based on the preset control signal sending rule when the second control chip has control over the image acquisition device corresponding to the status signal; wherein, the preset control signal sending rule is used to synchronize the control signals sent by the first control chip and the second control chip to the image acquisition device respectively.

[0011] Optionally, the vehicle system further includes an anomaly handling unit, configured to: in response to detecting an anomaly in the image acquisition device, execute an anomaly handling strategy for the image acquisition device; and / or, in response to an anomaly in the control chip having control over the image acquisition device, switch control of the image acquisition device through a normal control chip, and control the image acquisition device to stop outputting images to the control chip having control over the image acquisition device; and / or, in response to an anomaly in both the first control chip and the second control chip, control the image acquisition device to stop outputting images to the first control chip and the second control chip, and output a fault prompt message.

[0012] Optionally, the image acquisition device includes at least two cameras and deserializers respectively connected to the at least two cameras. The exception handling unit is further configured to: in response to detecting an exception in the deserializer, control the deserializer to reset via a control chip having control over the image acquisition device; and / or, in response to detecting an exception in the frame synchronization pulse signal generator of the control chip having control over the image acquisition device, adjust the synchronization mode of the at least two cameras and control the image acquisition device to stop outputting images to the control chip with image synchronization requirements.

[0013] In a second aspect, this disclosure provides a vehicle, including: an in-vehicle system as described in the first aspect of this disclosure.

[0014] Through the above technical solution, two control terminals are set up, namely, a first control chip and a second control chip; and a state machine is set up to detect the vehicle's operating mode and output a status signal, with different status signals corresponding to different control rights of the image acquisition device; then, the control rights of the first control chip and the second control chip over the image acquisition device depend on the vehicle's operating mode, so that the control rights of the image acquisition device can be switched accordingly under different vehicle operating modes; and the two control chips can jointly realize redundant and mutual backup control of the image acquisition device.

[0015] Therefore, this technical solution adjusts the single control method of the image acquisition device to a more flexible control method with switchable control, thereby ensuring that the image acquisition device outputs images stably and quickly. For example, if one control chip fails, control can be switched to another control chip, and the image acquisition device can still output images stably. Furthermore, since it is not limited to a fixed control terminal, the image acquisition device can start up quickly and output images stably in various different scenarios (such as different operating modes of a vehicle).

[0016] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a structural block diagram of an in-vehicle system according to an exemplary embodiment.

[0018] Figure 2 This is a structural block diagram of another vehicle-mounted system according to an exemplary embodiment.

[0019] Figure 3 This is a schematic diagram of the structure of an in-vehicle system according to an exemplary embodiment.

[0020] Figure 4 This is a schematic diagram illustrating an adaptive switching strategy for an Fsync signal source according to an exemplary embodiment.

[0021] Figure 5 This is a schematic diagram illustrating an Fsync signal pre-alignment mechanism according to an exemplary embodiment.

[0022] Figure 6 This is a schematic diagram illustrating yet another Fsync signal pre-alignment mechanism according to an exemplary embodiment. Detailed Implementation

[0023] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0024] In this disclosure, unless otherwise stated, directional terms such as "up," "down," "left," "right," "front," and "back" are used only for the convenience of describing this disclosure and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0025] As described in the background section, vehicles are equipped not only with image acquisition devices but also with control devices for those devices.

[0026] In related technologies, the image acquisition device is typically controlled by a fixed control unit. For example, the image acquisition device is controlled by the domain controller of intelligent driving (i.e., the controller that implements intelligent driving functions).

[0027] This control method fixes the control of the image acquisition device to a single control terminal, making it impossible to switch control of the image acquisition device. Consequently, because the control cannot be switched, it cannot guarantee that the image acquisition device will output images stably and quickly. For example, if the control terminal malfunctions and control is lost, the image acquisition device will output images uncontrollably. Furthermore, due to the limitation of the fixed control terminal, the image acquisition device cannot achieve rapid startup and stable image output in various different scenarios.

[0028] Therefore, the relevant technical solutions suffer from the problem of a single control method for the image acquisition device, which in turn leads to the inability of the image acquisition device to output images quickly and stably.

[0029] Based on this, the present disclosure provides a technical solution that sets up two control terminals, namely, a first control chip and a second control chip; and sets up a state machine to detect the vehicle's operating mode and output a state signal, with different state signals corresponding to different control rights of the image acquisition device; then, the control rights of the first control chip and the second control chip over the image acquisition device depend on the vehicle's operating mode, so that the control rights of the image acquisition device can be switched accordingly under different vehicle operating modes; and the two control chips can jointly realize redundant and mutually redundant control of the image acquisition device.

[0030] Therefore, this technical solution adjusts the single control method of the image acquisition device to a more flexible control method with switchable control, thereby ensuring that the image acquisition device outputs images stably and quickly. For example, if one control chip fails, control can be switched to another control chip, and the image acquisition device can still output images stably. Furthermore, since it is not limited to a fixed control terminal, the image acquisition device can start up quickly and output images stably in various different scenarios (such as different operating modes of a vehicle).

[0031] Figure 1 This is a structural block diagram of an in-vehicle system 100 according to an exemplary embodiment, such as... Figure 1 As shown, the vehicle-mounted system 100 includes: an image acquisition device 101, a state machine 102, a first control chip 103, and a second control chip 104.

[0032] Regarding the image acquisition device 101, it has an image acquisition function and can output an image based on the received control signal.

[0033] Regarding state machine 102, it can detect the vehicle operating mode and output a state signal to characterize the vehicle operating mode, wherein different state signals correspond to different control rights of the image acquisition device.

[0034] Regarding state machine 102, it can be deployed on the MCU (Microcontroller Unit) chip of the controller to receive signals from the vehicle's CAN (Controller Area Network) bus. Based on the signals obtained from the CAN bus, the vehicle's operating mode can be determined. For example, when the vehicle power-on signal is obtained, it can be determined that the vehicle is in full-function mode; when the vehicle unlock signal is obtained, it can be determined that the vehicle is in pre-start mode; and when the vehicle sleep signal is obtained, it can be determined that the vehicle is in sleep mode.

[0035] The first control chip 103 and the second control chip 104 can be different control chips in the domain controller. These two control chips are used to implement different control functions of the domain controller.

[0036] As an example, both the first control chip 103 and the second control chip 104 are SOCs (System on Chip). The first control chip 103 is responsible for cockpit-related control functions and can be called a cockpit SOC, while the second control chip 104 is responsible for intelligent driving-related control functions and can be called an intelligent driving SOC.

[0037] The first control chip 103 and the second control chip 104 are both connected to the state machine 102 and the image acquisition device 101, respectively. The connection to the image acquisition device 101 can be understood as establishing an image transmission link; a separate communication link needs to be built for controlling the image acquisition device 101. The connection to the state machine 102 can be achieved through inter-chip Ethernet (Ethernet between the MCU and SOC), SPI (Serial Peripheral Interface), or other links.

[0038] Therefore, after startup, both the first control chip 103 and the second control chip 104 can receive the status signal output by the state machine 102 to determine whether they have control authority. And, if they determine that they have control authority, they can control the image acquisition device 101.

[0039] Therefore, the first control chip 103 is used to control the image acquisition device 101 when the control right of the image acquisition device corresponding to the status signal is held by the first control chip 103; the second control chip 104 is used to control the image acquisition device 101 when the control right of the image acquisition device corresponding to the status signal is held by the second control chip 104.

[0040] In one implementation, the image acquisition device 101 is controlled by only one control chip at a time. Therefore, the control of the image acquisition device 101 is a single control right. Thus, before the control chip needs to control the image acquisition device 101, if the control right is not with it, a control right switching operation needs to be performed. The specific switching method will be described in subsequent embodiments.

[0041] To facilitate understanding of the technical solutions of the embodiments of this disclosure, the implementation of the vehicle system 100 in terms of structure will be introduced next.

[0042] Figure 2 This is a structural block diagram of another vehicle-mounted system 100 illustrated according to an exemplary embodiment, such as... Figure 2 As shown, the vehicle system 100 also includes a display device 105, which is connected to the first control chip 103.

[0043] In this implementation, the first control chip 103 is a control chip related to cockpit functions, and the second control chip 104 is related to intelligent driving functions and is part of the intelligent driving system.

[0044] Therefore, the image acquisition device 101 is used to output the acquired image, the first control chip 103 is used to receive the image acquired by the image acquisition device 101 and output it to the display device 105, and the display device 105 is used to display the received image; and the second control chip 104 is also used to receive the image acquired by the image acquisition device 101 and perform environmental perception operation of the intelligent driving system according to the image acquired by the image acquisition device 101.

[0045] In one embodiment, the images acquired by the image acquisition device 101 can be processed by stitching and rendering cockpit images, and then the processed images can be output to the display device 105.

[0046] Regarding the second control chip 104, in addition to being connected to the image acquisition device 101, it can also be connected to other sensors (such as temperature sensors, radar, lasers, etc.). By integrating the detection data and image data from other sensors, the environmental perception results of the intelligent driving system can be obtained.

[0047] In one embodiment, the image acquisition device 101 includes a camera and a deserializer. The number of cameras can be multiple, and the multiple cameras can be set at different vehicle locations, such as a front-view camera and a rear-view camera. The type of camera can be a wide-angle camera, an infrared camera, etc., which are not limited here.

[0048] The deserializer can be used to copy images captured by the camera, then output one output to the first control chip 103 and the other output to the second control chip 104. Therefore, the deserializer can include two image output terminals, each connected to a different control chip.

[0049] Furthermore, since the control of the camera can be switched, the deserializer can also be equipped with a control port, which is used to transmit the camera's control signals. This control port can be connected to different control chips depending on the specific control rights.

[0050] As an optional implementation, a control switch can be provided in the vehicle system 100. This control switch may include three terminals: a first terminal can be connected to a control port, a second terminal can be connected to a first control chip 103, and a third terminal can be connected to a second control chip 104. When the first control chip 103 has control, the first terminal of the control switch is connected to the second terminal; when the second control chip 104 has control, the first terminal of the control switch is connected to the third terminal.

[0051] Therefore, by controlling the state of the switch, control switching can be achieved.

[0052] As an example, the control switch could be an SPDT (Single Pole Double Throw) switch.

[0053] In one embodiment, the display device 105 may include an ICMS display screen and a DVR, wherein the ICMS display screen and the DVR may be connected to the first control chip 103 via different serializers.

[0054] Therefore, in the vehicle system 100, two serializers can also be configured to enable the control chip to output images to the corresponding display device 105.

[0055] In one embodiment, the first control chip 103 and the second control chip 104 are interconnected and can transmit signals to each other, for example, through communication methods such as inter-chip Ethernet, SPI and GPIO (General Purpose Input Output).

[0056] Figure 3 This is a schematic diagram of the structure of an in-vehicle system 100 according to an exemplary embodiment. Figure 3In this context, SOC-A stands for Intelligent Driving SOC, and SOC-B stands for Cockpit SOC. Additionally, the in-vehicle system 100 includes: a camera, a deserializer, a control switch, two serializers, an ICMS (Industrial Computer Monitor System) display screen, a DVR (Digital Video Recorder), and a power supply.

[0057] The power supply is used to power the two control chips and the deserializer.

[0058] In addition, the cameras include: a front-view wide-angle camera and a rear-view camera, which are only examples here.

[0059] Regarding the connection relationships between the various components, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0060] In one implementation, the vehicle operating mode may include: a sleep mode, a pre-start mode, and a full-function mode. The sleep mode may be triggered based on a CAN sleep signal; the pre-start mode may be triggered based on a vehicle unlock signal; and the full-function mode may be triggered based on a vehicle power-on signal, specifically an electrical signal indicating that the vehicle is in the ON position.

[0061] In sleep mode, the image acquisition device 101 does not need to output images and is in a power-off state. The control chip for cockpit functions (e.g., the first control chip 103 as the cockpit SOC) is in sleep mode, and the control chip for intelligent driving functions (e.g., the second control chip 104 as the intelligent driving SOC) is in a power-off state. Therefore, neither the first control chip 103 nor the second control chip 104 has control over the image acquisition device 101 at this time, or in other words, there is no need to assign control.

[0062] In pre-start mode, the vehicle is unlocked, the network management message is activated, the image acquisition device 101 needs to be initialized, and the control chip for cockpit functions can be started first. At this time, the control can be the control chip for cockpit functions.

[0063] In full-function mode, the image acquisition device 101 completes initialization and outputs images normally. The control chip for intelligent driving functions also starts up, and control of the image acquisition device 101 can be switched to the control chip for intelligent driving functions. It is understandable that in full-function mode, the intelligent driving system needs to monitor the image acquisition device 101 in real time to ensure the stability of intelligent driving functions; therefore, control needs to be switched to the control chip related to intelligent driving functions at this time.

[0064] Table 1 shows examples of the control rights of the image acquisition device under three different vehicle operating modes. In Table 1, the Fsync signal source can be understood as the source of the Fsync signal (a trigger signal that triggers the image acquisition device 101 to output an image), and the data receiving target can be understood as the object that receives the image output by the image acquisition device 101.

[0065]

[0066] Table 1 Therefore, in the implementation of the first control chip 103 as a cockpit SOC, the first control chip 103 is used to: establish a control signal transmission link with the image acquisition device 101 when the vehicle operation mode represented by the status signal is the pre-start mode, and transmit control signals to the image acquisition device 101 through the control signal transmission link, wherein the control signals include: signals for initializing the image acquisition device 101.

[0067] In this implementation, when the vehicle is in pre-start mode, the cockpit SOC can establish a control signal transmission link with the image acquisition device 101, and then send an initialization signal to the image acquisition device 101 to initialize it. After initialization, the image acquisition device 101 can output images in two channels to achieve rapid image output. The cockpit SOC outputs the received images to the corresponding display device 105 to achieve rapid image output and cockpit display functions after the vehicle is pre-started.

[0068] Based on the hardware architecture described in the foregoing embodiments, the establishment of the control signal transmission link can be achieved by controlling the state of the control switch.

[0069] In one implementation, the control signal transmission link is set by default to: the image acquisition device 101 is connected to the cockpit SOC. When the intelligent driving SOC is powered off, the state of the control switch can be actively operated, and the default control signal transmission link between the image acquisition device 101 and the cockpit SOC is restored. Therefore, the state of the control switch can be controlled by the intelligent driving SOC.

[0070] In this embodiment, the control signals may include several types of signals, such as I2C (inter-integrated circuit, serial bus signal), Fsync (frame synchronization pulse signal), and GPIO signals. The I2C signal may be related to the switching of control, the Fsync signal, as a frame synchronization pulse signal, may be used as a trigger signal for outputting the image, and the GPIO signal may be related to anomaly detection and monitoring of the image acquisition device 101.

[0071] Furthermore, in the implementation of the second control chip 104 as an intelligent driving SOC, the second control chip 104 is also used to: establish a control signal transmission link with the image acquisition device 101 when the vehicle operation mode represented by the status signal is the full-function mode, and transmit control signals to the image acquisition device 101 through the control signal transmission link.

[0072] In this implementation, in full-function mode, the intelligent driving SOC can take over the control of the image acquisition device 101. Therefore, the intelligent driving SOC can establish a control signal transmission link with the image acquisition device 101 and then transmit control signals to the image acquisition device 101 through the control signal transmission link.

[0073] It is understandable that, since a control signal transmission link is established between the cockpit SOC and the image acquisition device 101 in the pre-start mode, in the full-function mode, which involves the switching of control rights, the control signal transmission link between the cockpit SOC and the image acquisition device 101 needs to be switched to the control signal transmission link between the intelligent driving SOC and the image acquisition device 101.

[0074] In conjunction with the foregoing description of the hardware implementation, in an implementation where the image acquisition device 101 includes a control port, and the control port is connected to the first end of the control switch, the second end of the control switch is connected to the first control chip 103, and the third end of the control switch is connected to the second control chip, the second control chip 104 is further configured to: send a control switching command to the first control chip 103 when the vehicle operation mode represented by the status signal is the full-function mode, and the first end of the control switch is connected to the second end.

[0075] Therefore, when switching control, a control switching command needs to be sent to the control chip that currently has control.

[0076] Then, the first control chip 103 is also used to: receive a control switching instruction; and in response to the image acquisition device 101 meeting the control switching conditions, send a control switching permission instruction to the second control chip 104.

[0077] Therefore, the control chip with control authority can detect the control switching instruction to determine whether a control switching is permitted. If permitted, it returns a control switching permission instruction.

[0078] As an example, the control switching condition of the image acquisition device 101 can be: the I2C of the image acquisition device 101 is in an idle state.

[0079] Furthermore, the second control chip 104 is also used to: in response to receiving a command to allow switching of control, operate the control switch to switch from being connected between the first terminal and the second terminal to being connected between the first terminal and the third terminal.

[0080] In this implementation method, the control of the image acquisition device 101 can be effectively switched.

[0081] In this embodiment, the control is dynamically switched according to the safety state machine 102, and a lightweight design that supports three vehicle operation modes (sleep mode / pre-start mode / full-function mode) is implemented to meet the hard requirements of cold start image output of the camera and the requirements of real-time monitoring of camera status by the intelligent driving function.

[0082] Furthermore, the second control chip 104 can operate the control switch to adjust its state upon receiving the instruction to allow control switching, thereby achieving control switching.

[0083] In this embodiment of the disclosure, considering the possibility of uneven synchronization signals during control switching, such as sudden phase changes in the field synchronization signal at the moment of switching, or decoding errors caused by the loss of the synchronization header, leading to display abnormalities and affecting user experience, corresponding synchronization measures can be configured for control switching to avoid uneven synchronization signals.

[0084] In one implementation, to avoid uneven synchronization signals, the first control chip 103 and the second control chip 104 need to ensure clock synchronization first. Therefore, the first control chip 103 and the second control chip 104 can perform clock synchronization first through the gPTP (Generalized Precision Time Protocol).

[0085] As an example, in a heterogeneous computing platform's domain controller inter-chip Ethernet, the cockpit SOC, the intelligent driving SOC, and the switch can form a clock synchronization link. The cockpit SOC can act as the master clock source for data plane clock synchronization, synchronizing with the switch using gPTP. The switch, as the master node, synchronizes time with the intelligent driving SOC via the gPTP synchronization protocol. The clock synchronization accuracy is 100ns, and frequency offset is dynamically corrected through the synchronization period to ensure precise clock synchronization.

[0086] In one implementation, to avoid uneven synchronization signals, the first control chip 103 and the second control chip 104 can use the same control signal transmission rules to send control signals.

[0087] Therefore, as an optional implementation, the first control chip 103 is further configured to send a control signal to the image acquisition device 101 based on a preset control signal sending rule when the first control chip 103 has control over the image acquisition device corresponding to the status signal; the second control chip 104 is further configured to send a control signal to the image acquisition device 101 based on a preset control signal sending rule when the second control chip 104 has control over the image acquisition device corresponding to the status signal; wherein, the preset control signal sending rule is used to synchronize the control signals sent by the first control chip 103 and the second control chip 104 to the image acquisition device 101 respectively.

[0088] The control signal mentioned above can be the Fsync signal described in the preceding embodiments.

[0089] As an example, a preset control signal transmission rule could be: at every hundred milliseconds, an Fsync signal is sent to the image acquisition device 101, causing the Fsync generator of the image acquisition device 101 to output the starting image frame at every hundred milliseconds. This method enables pre-alignment of the Fsync signal.

[0090] The whole 100 milliseconds time is only an example and can be other times. It can be flexibly adjusted according to the image frame rate of the image acquisition device 101. The image frame rate corresponding to the whole 100 milliseconds can be 30.

[0091] In one implementation, to avoid the problem of the first frame of image data being incomplete, the control switch needs to be performed within the target time window during each control switch when no valid image frame is output.

[0092] Therefore, taking the second control chip 104 as an example of switching control rights as an intelligent driving SOC, the second control chip 104 can be used to: in response to receiving a command to allow switching control rights, determine the target time window in which the image acquisition device 101 does not output valid image frames; within the target time window, control the control switch to switch from the connection between the first end and the second end to the connection between the first end and the third end.

[0093] In this implementation, the target time window in which the image acquisition device 101 does not output valid image frames can be called the V-Blank (vertical blanking interval) window. At this time, the image acquisition device 101 will not output valid image frames.

[0094] In one implementation, the target time window in which the image acquisition device 101 will not output a valid image can be determined based on the VSYNC (vertical synchronization signal) edge signal output by the deserializer in the image acquisition device 101. Specifically, the time window corresponding to the low level in VSYNC is the target time window.

[0095] As an example, the length of the target time window can be 2ms; the target time window can be different depending on the camera model.

[0096] In this way, adaptive switching of the Fsync signal source can be achieved, which can avoid image frame defects caused by switching of effective image frame areas, ensure uniform Fsync signal, and achieve multi-camera synchronization error of <0.5ms, thus meeting the perception fusion requirements of intelligent driving functions.

[0097] Figure 4 This is a schematic diagram illustrating an adaptive switching strategy for an Fsync signal source according to an exemplary embodiment. Figure 4 In this context, the Fsync signal source can be either the cockpit SOC or the intelligent driving SOC. Dual-domain Fsync signal pre-alignment can be achieved through clock synchronization between the cockpit SOC and the intelligent driving SOC, as well as by using the same Fsync signal transmission rules. V-Blank hard synchronization is the switching of control within a specific time window. Furthermore, by integrating dual-domain Fsync signal pre-alignment and V-Blank hard synchronization, adaptive switching of the Fsync signal source can be achieved.

[0098] Figure 5 This is a schematic diagram illustrating an Fsync signal pre-alignment mechanism according to an exemplary embodiment. Figure 5 In the system, the cockpit SOC and the intelligent driving SOC synchronize their clocks via a switch, ensuring precise clock synchronization.

[0099] Figure 6 This is a schematic diagram illustrating yet another Fsync signal pre-alignment mechanism according to an exemplary embodiment, such as... Figure 6 As shown, both the cockpit SOC and the intelligent driving SOC send Fsync signals at integer 100 millisecond intervals; and the switching of the Fsync signal source (i.e., the switching of control) is completed within a time window that does not involve valid image frames.

[0100] In this embodiment of the disclosure, considering that various abnormalities may occur during the operation of the vehicle system 100, corresponding modules can also be configured to realize abnormality detection, abnormality handling, etc.

[0101] Therefore, as an optional implementation, the vehicle system 100 further includes an exception handling unit. This exception handling unit can be a separately configured processing unit or a processing unit integrated into a domain controller; no limitation is made here.

[0102] In one implementation, if the vehicle system 100 is not malfunctioning and all modules are operating normally, then no malfunction handling is required, and the system's security level is the highest security level, such as LEVEL0.

[0103] In one embodiment, the exception handling unit can be used to: execute the exception handling strategy of the image acquisition device 101 in response to detecting an exception in the image acquisition device 101.

[0104] In this implementation, if the image acquisition device 101 malfunctions, the system's security level decreases, and the security level varies depending on the specific malfunction.

[0105] As an example, in an embodiment where the image acquisition device 101 includes at least two cameras and deserializers connected to the at least two cameras respectively, an image acquisition device 101 malfunction can be categorized as either a camera malfunction or a deserializer malfunction.

[0106] In one embodiment, the exception handling unit can be used to: in response to detecting an exception in the deserializer, control the deserializer to be reset via a control chip having control over the image acquisition device 101.

[0107] In this implementation, the deserializer may malfunction, for example, by encountering a MIPI (Mobile Industry Processor Interface) CRC (Cyclic Redundancy check) error. The MIPI CRC check is a key mechanism in the MIPI protocol used to ensure the integrity of data transmission, and it uses a 16-bit cyclic redundancy check.

[0108] In this situation, the deserializer can be reset, and by resetting, the verification function can be restored, thus enabling exception handling.

[0109] As an example, in such an exceptional situation, the system's security level could be LEVEL1.

[0110] In one embodiment, the exception handling unit can be used to: adjust the synchronization mode of at least two cameras and control the image acquisition device 101 to stop outputting images to the control chip that has image synchronization requirements in response to detecting an exception in the frame synchronization pulse signal generator of the control chip that has control over the image acquisition device.

[0111] In this implementation, a malfunction in the frame synchronization pulse signal generator of the control chip can cause problems with the camera's synchronization function.

[0112] In this case, the camera synchronization mode can be adjusted to independent internal synchronization mode, that is, the deserializer synchronizes the images output from different cameras before outputting the images.

[0113] At this time, due to the synchronization problem of the camera, the intelligent driving SOC will also have problems with image-related functions. Therefore, it is possible to stop outputting images to it to avoid problems with the intelligent driving function.

[0114] As an example, in such an exceptional situation, the system's security level could be LEVEL2.

[0115] In one embodiment, the exception handling unit can be used to: in response to an exception in the control chip that has control over the image acquisition device 101, switch the control over the image acquisition device 101 through the normal control chip, and control the image acquisition device 101 to stop outputting images to the control chip that has control over the image acquisition device 101.

[0116] In this implementation, the heartbeat signals of the two control chips can be detected at regular intervals. If the heartbeat signals are lost multiple times consecutively, it is determined that the control chips are malfunctioning. As an example, the interval can be 20ms, and the multiple times can be 3 times.

[0117] Therefore, in this implementation, if the control chip that controls the image acquisition device 101 malfunctions, control needs to be switched by another normal control chip. Meanwhile, the malfunctioning control chip is inoperable and can be kept from outputting images.

[0118] As an example, the system security level corresponding to this anomaly could be LEVEL3.

[0119] In one embodiment, the fault handling unit can be used to: in response to both the first control chip 103 and the second control chip 104 being faulty, control the image acquisition device 101 to stop outputting images to the first control chip 103 and the second control chip 104, and output fault prompt information.

[0120] In this implementation, both control chips malfunction, their functions cease, and they do not output images to the first control chip 103 or the second control chip 104. Furthermore, a fault message needs to be output so that the user can understand the fault situation.

[0121] As an example, a system malfunction can be displayed on the cockpit monitor. Taking the vehicle system 100, which is a cockpit-driver integrated vehicle computing platform, as an example, the monitor can display a malfunction message indicating that the vehicle computing platform should be addressed.

[0122] It is understandable that, in addition to displaying on a monitor, fault alerts can also be achieved through voice prompts, sending notification messages to mobile devices, etc., and no specific method is specified here.

[0123] As an example, this anomaly corresponds to the lowest system security level, LEVEL4.

[0124] Table 2 illustrates examples of different abnormal situations according to an exemplary embodiment. As shown in Table 2, five different security levels are involved, and the abnormal situations and handling methods differ under different security levels. In this way, the safety, stability, and reliability of the vehicle system 100 can be effectively improved.

[0125]

[0126] Table 2 The technical solutions of the embodiments of this disclosure can achieve the following technical effects: In the scenario of initializing the camera, it can achieve rapid image output after cold start, while meeting the requirements of real-time monitoring and synchronization of camera status by the intelligent driving SOC.

[0127] When switching control of the camera link, the problem of uneven frame synchronization signal can be avoided, achieving seamless switching and improving the user experience.

[0128] When a system malfunctions, it can respond and handle the fault promptly based on the specific anomaly, thereby improving system security.

[0129] This disclosure also provides a vehicle, which may include the in-vehicle system 100 as described in the foregoing embodiments, and may also include various basic components of the vehicle, such as a drive system, a multimedia entertainment system, etc., which will not be described one by one here.

[0130] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0131] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0132] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle-mounted system, characterized in that, include: Image acquisition device; A state machine is used to detect the vehicle's operating mode and output a state signal that characterizes the vehicle's operating mode. Different state signals correspond to different control rights of the image acquisition device. A first control chip is connected to the image acquisition device and the state machine respectively, and is used to receive the state signal; when the first control chip has control over the image acquisition device corresponding to the state signal, it controls the image acquisition device. The second control chip is connected to the image acquisition device and the state machine respectively, and is used to receive the state signal; when the second control chip has control over the image acquisition device corresponding to the state signal, it controls the image acquisition device.

2. The vehicle-mounted system according to claim 1, characterized in that, The vehicle system further includes a display device, which is connected to the first control chip; The image acquisition device is used to output the acquired image; The first control chip is also used to receive images acquired by the image acquisition device and output them to the display device, which is used to display the received images; The second control chip is also used to receive images acquired by the image acquisition device and to perform environmental perception operations of the intelligent driving system based on the images acquired by the image acquisition device.

3. The vehicle-mounted system according to claim 2, characterized in that, The first control chip is also used for: When the vehicle operation mode represented by the status signal is the pre-start mode, a control signal transmission link is established with the image acquisition device, and a control signal is transmitted to the image acquisition device through the control signal transmission link. The control signal includes a signal for initializing the image acquisition device.

4. The vehicle-mounted system according to claim 2, characterized in that, The second control chip is also used for: When the vehicle operating mode represented by the status signal is full-function mode, a control signal transmission link is established with the image acquisition device, and control signals are transmitted to the image acquisition device through the control signal transmission link.

5. The vehicle-mounted system according to claim 4, characterized in that, The image acquisition device includes a control port, which is connected to a first terminal of a control switch, a second terminal of the control switch is connected to a first control chip, and a third terminal of the control switch is connected to a second control chip. The second control chip is also used to: send a control switching command to the first control chip when the vehicle operating mode represented by the status signal is full-function mode and the first end of the control switch is connected to the second end; The first control chip is further configured to: receive the control switching instruction; and, in response to the image acquisition device meeting the control switching conditions, send a control switching permission instruction to the second control chip; The second control chip is also configured to: in response to receiving the instruction to allow switching of control rights, operate the control switch to switch from connecting the first end to the second end to connecting the first end to the third end.

6. The vehicle-mounted system according to claim 5, characterized in that, The second control chip is further configured to: in response to receiving the instruction to allow switching of control, determine a target time window in which the image acquisition device does not output valid image frames; Within the target time window, the control switch is operated to switch from connecting the first end to the second end to connecting the first end to the third end.

7. The vehicle-mounted system according to claim 1, characterized in that, The first control chip is also used to send control signals to the image acquisition device based on a preset control signal sending rule when the first control chip has control over the image acquisition device corresponding to the status signal. The second control chip is also used to send control signals to the image acquisition device based on the preset control signal sending rules when the control of the image acquisition device corresponding to the status signal is held by the second control chip. The preset control signal transmission rule is used to synchronize the control signals sent by the first control chip and the second control chip to the image acquisition device.

8. The vehicle-mounted system according to claim 1, characterized in that, The vehicle-mounted system also includes an anomaly handling unit, used for: In response to detecting an abnormality in the image acquisition device, the abnormality handling strategy of the image acquisition device is executed. And / or, In response to an abnormality in the control chip that has control over the image acquisition device, the control over the image acquisition device is switched by the normal control chip, and the image acquisition device is controlled to stop outputting images to the control chip that has control over the image acquisition device. And / or, In response to the abnormality of both the first control chip and the second control chip, the image acquisition device is controlled to stop outputting images to the first control chip and the second control chip, and a fault prompt message is output.

9. The vehicle-mounted system according to claim 8, characterized in that, The image acquisition device includes: at least two cameras, and deserializers connected to the at least two cameras respectively; the exception handling unit is further configured to: In response to the detection of an anomaly in the deserializer, the deserializer is reset via a control chip having control over the image acquisition device; and / or, In response to detecting an anomaly in the frame synchronization pulse signal generator of the control chip having control over the image acquisition device, the synchronization mode of the at least two cameras is adjusted, and the image acquisition device is controlled to stop outputting images to the control chip that has image synchronization requirements.

10. A vehicle, characterized in that, include: The vehicle-mounted system as described in any one of claims 1 to 9.

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