Multi-camera control method, apparatus, and device, and storage medium

Abstract

Disclosed are a multi-camera control method, apparatus, and device, and a storage medium, relating to the field of intelligent driving. The method comprises: determining an interrupt pin state used to trigger an interrupt in a deserializer; in response to the interrupt pin state indicating that at least one camera among a plurality of cameras is in a disconnected state, determining port states corresponding to the cameras at a first moment; and in response to the port state corresponding to a first camera among the plurality of cameras at the first moment switching from a disconnected state to a connected state, restoring data output of the first camera. According to the technical solution of the present disclosure, the connection status of each camera is determined only when a hot-plug action occurs, and corresponding data output is restored when the camera switches from a disconnected state to a connected state, thereby saving processor resources. In addition, the port states corresponding to the plurality of cameras can be determined simply by means of one interrupt pin in the deserializer, thereby significantly reducing the consumption of hardware resources.

Description

Multi-camera control method, device, equipment and storage medium

[0001] The present disclosure claims priority to the Chinese patent application No. 2024106076845, filed on May 15, 2024, and entitled "Multi-camera control method, device, equipment and storage medium", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of intelligent driving, and in particular to a multi-camera control method, device, equipment and storage medium. BACKGROUND

[0003] At present, in the intelligent driving technology, the insertion state and the pull-out state of the vehicle-mounted camera are mainly determined by a timing monitoring method or an interruption method, so as to realize the hot plug recovery of the vehicle-mounted camera.

[0004] However, the timing monitoring method still needs to monitor the insertion state and the pull-out state of the vehicle-mounted camera at regular intervals when no camera hot plug action occurs, and thus a high processor resource needs to be occupied, which seriously affects the execution efficiency of other threads of the processor. Although the interruption method can save processor resources by triggering an interruption to restore the normal work of the camera only when the camera is inserted, the interruption method needs to use multiple hardware interruption pins when performing the hot plug recovery of multiple vehicle-mounted cameras, and thus a large amount of hardware resources are consumed. SUMMARY

[0005] Generally, a high processor resource needs to be occupied or a large amount of hardware resources need to be consumed when performing the hot plug recovery of the vehicle-mounted camera.

[0006] To solve the above technical problems, the present disclosure provides a multi-camera control method, comprising:

[0007] determining an interruption pin state for triggering an interruption in a deserializer;

[0008] in response to the interruption pin state indicating that at least one camera of the multiple cameras is in a disconnected state, determining a port state corresponding to each camera at a first time;

[0009] in response to the port state corresponding to a first camera of the multiple cameras at the first time being switched from the disconnected state to a connected state, restoring data output of the first camera.

[0010] A second aspect of the present disclosure provides a multi-camera control device, comprising:

[0011] a deserializer, coupled to a processor, configured to output an interruption pin state for triggering an interruption to the processor;

[0012] the processor is configured to: receive a state of an interrupt pin; in response to the state of the interrupt pin indicating that at least one camera of the plurality of cameras is in a disconnected state, determine a port state corresponding to each camera at a first time; and in response to the port state corresponding to a first camera of the plurality of cameras at the first time being switched from the disconnected state to a connected state, resume data output of the first camera.

[0013] A third aspect of the present disclosure provides a multi-camera control device, which comprises:

[0014] a first determination module configured to determine a state of an interrupt pin in a deserializer for triggering an interrupt;

[0015] a second determination module configured to, in response to the state of the interrupt pin indicating that at least one camera of the plurality of cameras is in a disconnected state, determine a port state corresponding to each camera at a first time;

[0016] a first resumption module configured to, in response to the port state corresponding to a first camera of the plurality of cameras at the first time being switched from the disconnected state to a connected state, resume data output of the first camera.

[0017] A fourth aspect of the present disclosure provides a computer-readable storage medium, which stores a computer program for executing the multi-camera control method of the first aspect.

[0018] In the embodiments of the present disclosure, the port state corresponding to each camera is determined only when the state of the interrupt pin indicates that at least one camera of the plurality of cameras is disconnected, and the first camera is resumed to work normally only when the first camera is switched from the disconnected state to the connected state. That is, the connection state of each camera is determined only when the hot plug action occurs, and the corresponding data output is resumed only when the camera is switched from the disconnected state to the connected state. Therefore, during the process of hot plug recovery of the camera, the processor resources occupied are less, the processor resources are saved, and the execution efficiency of other threads of the processor can be improved.

[0019] Meanwhile, the state of the interrupt pin in the deserializer for triggering the interrupt can indicate the disconnected state of at least one camera of the plurality of cameras, that is, only one interrupt pin in the deserializer is needed to determine the port state corresponding to the plurality of cameras. Furthermore, the processor only needs one interrupt pin coupled with the interrupt pin of the deserializer to obtain the port state corresponding to the plurality of cameras. Therefore, no matter how many cameras there are, only one interrupt pin of the processor is needed, which greatly reduces the consumption of hardware resources. BRIEF DESCRIPTION OF DRAWINGS

[0020] FIG. 1 is a schematic diagram of an image processing system in a vehicle-mounted system according to an example embodiment of the present disclosure.

[0021] FIG. 2 is a flowchart of a multi-camera control method according to an example embodiment of the present disclosure.

[0022] FIG. 3 is a flowchart of another multi-camera control method according to an example embodiment of the present disclosure.

[0023] FIG. 4 is a flowchart of yet another multi-camera control method according to an example embodiment of the present disclosure.

[0024] FIG. 5 is a flowchart of yet another multi-camera control method according to an example embodiment of the present disclosure.

[0025] FIG. 6 is a flowchart of yet another multi-camera control method according to an example embodiment of the present disclosure.

[0026] FIG. 7 is a schematic diagram of a multi-camera control device according to an example embodiment of the present disclosure.

[0027] FIG. 8 is a schematic diagram of a multi-camera control apparatus according to an example embodiment of the present disclosure.

[0028] FIG. 9 is a schematic diagram of another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0029] FIG. 10 is a schematic diagram of yet another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0030] FIG. 11 is a schematic diagram of yet another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0031] FIG. 12 is a schematic diagram of yet another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0032] FIG. 13 is a schematic diagram of yet another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0033] FIG. 14 is a schematic diagram of yet another multi-camera control apparatus according to an example embodiment of the present disclosure.

[0034] FIG. 15 is a schematic diagram of an electronic device according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] In order to explain the present disclosure, example embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all embodiments, and it should be understood that the present disclosure is not limited by the example embodiments.

[0036] It should be noted that the relative arrangement of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically indicated.

[0037] SUMMARY

[0038] With the development of intelligent driving technology, vehicle-mounted cameras have become one of the standard configurations of vehicles. At present, in intelligent driving technology, the driving environment needs to be perceived in real time through vehicle-mounted cameras, and target objects such as lane lines, traffic signs, pedestrians, and other vehicles are determined through image recognition technology, so as to make appropriate decisions and perform corresponding driving operations according to the target objects.

[0039] However, when the vehicle is driving on a bumpy road, the vehicle-mounted camera is prone to a situation of being temporarily disconnected (corresponding to the vehicle-mounted camera being pulled out) and quickly connected (corresponding to the vehicle-mounted camera being inserted) with the image processing system in the vehicle-mounted system. After the vehicle-mounted camera is temporarily disconnected and quickly connected with the image processing system, the image processing system often fails to detect that the vehicle-mounted camera has been inserted, or there is a delay in the detection time, resulting in the inability to restore or delay the normal operation of the corresponding vehicle-mounted camera, i.e., the hot plug recovery of the vehicle-mounted camera cannot be achieved. In this way, the image processing system will not be able to perceive the driving environment for a period of time, which seriously affects the perception effect of the image processing system on the driving environment, and further affects the safety of intelligent driving.

[0040] Generally, the insertion state and the pull-out state of the vehicle-mounted camera are determined mainly through a timing monitoring manner or an interruption manner to achieve the hot plug recovery of the vehicle-mounted camera.

[0041] Exemplary system

[0042] FIG. 1 is a schematic diagram of an image processing system in a vehicle-mounted system according to an exemplary embodiment of the present disclosure. As shown in FIG. 1, the image processing system 10 includes a processor 101, a deserializer 102 coupled with the processor 101, and at least one vehicle-mounted camera 103 coupled with the deserializer 102. In the embodiment of the present disclosure, the processor 101 can be a central processing unit (CPU) on a vehicle-mounted system on chip (SoC).

[0043] The process of achieving the hot plug recovery of the vehicle-mounted camera by using the timing monitoring manner will be introduced below in combination with FIG. 1.

[0044] As shown in FIG. 1, the processor 101 sends a query instruction to the deserializer 102 through I2C bus timing between the processor 101 and the deserializer 102, and the deserializer 102 returns the port state of each vehicle-mounted camera to the processor 101 in response to the query instruction. The processor 101 recovers the normal work of the corresponding vehicle-mounted camera according to the port state of each vehicle-mounted camera.

[0045] In the embodiments of the present disclosure, since the process of hot plug recovery of the vehicle-mounted camera by the timing monitoring mode does not involve the interrupt triggering and interrupt processing of the processor 101, the coupling of the interrupt pin between the processor 101 and the deserializer 102 in FIG. 1 can be excluded.

[0046] In the technical solutions of the embodiments of the present disclosure, the processor 101 still needs to send a query instruction to the deserializer 102 at a timing and receive the port state of each vehicle-mounted camera returned by the deserializer 102 to realize the timing monitoring of the insertion and extraction state of the vehicle-mounted camera when no camera hot plug action occurs. Therefore, in the process of hot plug recovery of the vehicle-mounted camera by the timing monitoring mode, the load of the processor 101 is large, and high processor resources are occupied, which seriously affects the execution efficiency of other threads of the processor.

[0047] The process of hot plug recovery of the vehicle-mounted camera by the interrupt mode will be introduced below in combination with FIG. 1.

[0048] As shown in FIG. 1, first, the processor 101 sends a first interrupt pin configuration instruction to the deserializer 102 to configure the deserializer 102 with a plurality of interrupt pins same as the number of vehicle-mounted cameras, and make the state of each interrupt pin in the deserializer 102 consistent with or corresponding to the port state of the corresponding vehicle-mounted camera.

[0049] Then, the plurality of interrupt signals corresponding to the port state of each camera are obtained through the plurality of interrupt pins of the deserializer 102, and the corresponding interrupt signals are sent to the corresponding interrupt pins of the processor 101 through the interrupt pins of the deserializer 102.

[0050] Finally, the processor 101 receives the corresponding interrupt signals, and when the corresponding interrupt signals indicate that the vehicle-mounted camera is extracted and inserted again, i.e., the processor 101 detects the insertion of the vehicle-mounted camera to trigger the interrupt, the normal work of the corresponding vehicle-mounted camera is recovered in the interrupt service program.

[0051] In the technical solution of the embodiments of the present disclosure, the processor 101 triggers an interrupt only when the vehicle-mounted camera is detected to be inserted, so as to restore the normal work of the corresponding vehicle-mounted camera. Therefore, the processor resources can be saved. However, in the process of realizing the hot plug restoration of the vehicle-mounted camera by using the interrupt, the deserializer 102 needs to be configured with a plurality of interrupt pins corresponding to the number of vehicle-mounted cameras, and the plurality of interrupt pins of the deserializer 102 need to be respectively coupled with a plurality of hardware interrupt pins of the processor 101, so as to obtain the port state of each camera. When the number of vehicle-mounted cameras is large (for example, the number of vehicle-mounted cameras can be up to 10 or even more than 20), a large number of hardware interrupt pins (corresponding to 10 or even more than 20) in the processor 101 are used, and the consumption of hardware resources is extremely large.

[0052] Based on the above technical problem, the embodiments of the present disclosure provide a multi-camera control method. The interrupt pin state of the deserializer for triggering an interrupt is determined, and when the interrupt pin state indicates that at least one camera in the plurality of cameras is in a disconnected state, the port state of each camera corresponding to the first time is determined. Then, when the port state of the first camera corresponding to the first time in the plurality of cameras is switched from the disconnected state to the connected state, the data output of the first camera is restored. Since the port state of each camera is determined when the interrupt pin state indicates that at least one camera in the plurality of cameras is disconnected, and the normal work of the first camera is restored when the first camera is switched from the disconnected state to the connected state. That is, the connection state of each camera is determined only when the hot plug action occurs, and the corresponding data output is restored when the camera is switched from the disconnected state to the connected state. Therefore, in the process of hot plug restoration of the camera, the processor resources occupied are less, the processor resources are saved, and the execution efficiency of other threads of the processor can be improved.

[0053] Meanwhile, since the interrupt pin state of the deserializer for triggering an interrupt can indicate the disconnected state of at least one camera in the plurality of cameras, that is, only one interrupt pin in the deserializer is needed to determine the port state of the plurality of cameras. Furthermore, the processor only needs one interrupt pin coupled with the interrupt pin of the deserializer to obtain the port state of the plurality of cameras. Therefore, no matter how many cameras there are, only one interrupt pin of the processor is needed, which greatly reduces the consumption of hardware resources.

[0054] The implementation process of the method for realizing the hot plug restoration of the vehicle-mounted camera provided by the embodiments of the present disclosure will be introduced below in combination with FIG. 1.

[0055] As shown in FIG. 1, first, the processor 101 sends a second interrupt pin configuration instruction to the deserializer 102 to configure the deserializer 102 with 1 interrupt pin, so that the state of the interrupt pin of the deserializer 102 corresponds to the port state of the plurality of vehicle-mounted cameras.

[0056] Then, the processor 101 is triggered to interrupt when the interrupt signal indicates that at least one of the plurality of cameras is in the disconnected state.

[0057] Then, the processor 101 is triggered to interrupt when the interrupt signal indicates that at least one of the plurality of cameras is in the disconnected state.

[0058] Then, the processor 101 is triggered to interrupt when the interrupt signal indicates that at least one of the plurality of cameras is in the disconnected state.

[0059] Finally, the processor 101 resumes the normal operation of the first camera when the first camera is inserted according to the port status of each camera.

[0060] Exemplary method

[0061] FIG. 2 is a flowchart of a multi-camera control method according to an exemplary embodiment of the present disclosure. The multi-camera control method can be applied to the image processing system 10 shown in FIG. 1 and can include the following steps 201 to 203.

[0062] Step 201: Determine the interrupt pin state of the de-serializer for triggering an interrupt.

[0063] For example, as shown in FIG. 1, since the interrupt pin of the de-serializer 102 is coupled to the interrupt pin of the processor 101, the interrupt pin state of the de-serializer 102 for triggering an interrupt (processor interrupt) can be indicated by the interrupt signal of the de-serializer 102 or the processor 101. The interrupt pin state of the de-serializer 102 for triggering an interrupt refers to the state of an interrupt pin configured by the processor 101 to the de-serializer 102. In some examples, the interrupt pin state of the de-serializer 102 for triggering an interrupt can be a first level or a second level, and needs to be determined according to the port status of the plurality of cameras. For example, when the port status of at least one of the plurality of cameras is in the disconnected state, the interrupt pin state of the de-serializer 102 for triggering an interrupt is the first level; when the port status of each of the plurality of cameras is in the connected state, the interrupt pin state of the de-serializer 102 for triggering an interrupt is the second level.

[0064] In some examples, the first level can be a logic high level "1", and the second level can be a logic low level "0". In other examples, the first level can be a logic low level "0", and the second level can be a logic high level "1", and the embodiments of the present disclosure do not limit the specific implementation of the first level and the second level. The embodiments of the present disclosure are exemplarily described by taking the first level as a logic high level "1" and the second level as a logic low level "0" as an example.

[0065] Exemplarily, referring to FIG. 1, step 201 can include that the processor 101 receives an interrupt signal indicating the port state of each camera in the plurality of vehicle-mounted cameras through the interrupt pin (for example, a General-Purpose Input / Output (GPIO)) of the de-serializer 102.

[0066] Step 202, in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in a disconnected state, determining the port state of each camera corresponding to the first time.

[0067] Exemplarily, the first time can refer to the time after determining that at least one camera in the plurality of cameras is in a disconnected state. In some examples, referring to FIG. 1, the first time can include the interrupt response time of the processor 101, and can also include the time after the interrupt response time until the first time of restoring the data output of the camera that first switches from the disconnected state to the connected state.

[0068] In some examples, the at least one camera can include one camera, or two or more cameras, and the embodiments of the present disclosure do not limit the number of the at least one camera. The embodiments of the present disclosure are exemplarily described by taking the at least one camera including two cameras of a first camera and a second camera as an example.

[0069] Exemplarily, referring to FIG. 1, step 202 can include that the processor 101, in response to the first level when the interrupt signal is the first level (determining that the port state of at least one camera in the plurality of cameras is disconnected, that is, at least one camera is in a disconnected state), sends a query instruction to the de-serializer 102 through the I2C bus, and simultaneously receives the data returned by the de-serializer 102 in response to the query instruction, and determines the port state of each camera corresponding to the first time based on the data.

[0070] In some examples, continuing to refer to FIG. 1, the processor 101 can continuously send a query instruction to the de-serializer 102 through the I2C bus in response to the first level when the interrupt signal is the first level, and simultaneously receive the latest data returned by the de-serializer 102 in response to the query instruction in real time, so as to determine the port state of each camera based on the latest data.

[0071] In response to the port state corresponding to the first camera at the first time being switched from the disconnected state to the connected state, the data output of the first camera is resumed.

[0072] For example, the first camera can be the camera that is switched from the disconnected state to the connected state first among the at least one camera in the disconnected state. For example, the plurality of cameras include the first camera to the eleventh camera, and the at least one camera in the disconnected state includes the tenth camera and the eleventh camera. In some examples, if the tenth camera is switched from the disconnected state to the connected state first, the tenth camera is determined as the first camera; if the eleventh camera is switched from the disconnected state to the connected state first, the eleventh camera is determined as the first camera.

[0073] For example, referring to FIG. 1, when the processor 101 determines that the connected state of the first camera is switched from the disconnected state to the connected state first among the port states of the cameras, the processor 101 sends an initialization instruction to the first camera to initialize and configure the first camera, so that the first camera can output the detected data.

[0074] In the embodiments of the present disclosure, the port state corresponding to each camera is determined only when the interrupt pin indicates that at least one camera in the plurality of cameras is disconnected, and the normal work of the first camera is resumed only when the first camera is switched from the disconnected state to the connected state. That is, the connection state of each camera is determined only when the hot plug action occurs, and the corresponding data output is resumed only when the camera is switched from the disconnected state to the connected state. Therefore, during the hot plug recovery of the camera, the processor resources occupied are less, the processor resources are saved, and the execution efficiency of other threads of the processor can be improved. At the same time, the interrupt pin for triggering the interrupt in the deserializer can indicate the disconnected state of at least one camera in the plurality of cameras, that is, only one interrupt pin in the deserializer can determine the port state corresponding to the plurality of cameras. Further, the processor only needs to couple one interrupt pin with the interrupt pin of the deserializer to obtain the port state corresponding to the plurality of cameras. Therefore, regardless of the number of cameras, only one interrupt pin of the processor is needed, which greatly reduces the consumption of hardware resources.

[0075] As shown in FIG. 3, based on the embodiment shown in FIG. 2, in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state, the determination of the port state corresponding to each camera at the first time can include the following steps 2021 and 2022.

[0076] At step 2021, in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state, a state register corresponding to each camera at the first time point in the deserializer is queried to obtain a query result.

[0077] Exemplarily, the query result can be a value stored in the state register corresponding to each camera. In some examples, if the value stored in the state register is "0" or "1", the query result can include a string of characters (bits) with the same number of characters as the number of cameras. For example, when the number of cameras is 11, the query result can include "01011100011" with 11 characters; for another example, when the number of cameras is 20, the query result can include "01110011010110101001" with 20 characters.

[0078] Exemplarily, the deserializer can include a state register corresponding to the port state of each camera in the plurality of cameras. In some examples, the port state of one camera can correspond to one state register, and different values in the state register can correspond to different port states, and the size of the value in the state register is not specifically limited in the embodiments of the present disclosure. The embodiments of the present disclosure are exemplarily described by taking an example that the value in the state register includes "0" and "1" for indicating different port states.

[0079] In some examples, the value "0" can be used to represent the port state as the connected state, and the value "1" can be used to represent the port state as the disconnected state. In other examples, the value "0" can be used to represent the port state as the disconnected state, and the value "1" can be used to represent the port state as the connected state. The specific port state represented by the value "1" and the value "0" is not limited in the embodiments of the present disclosure. The embodiments of the present disclosure are exemplarily described by taking an example that the value "0" represents the port state as the connected state, and the value "1" represents the port state as the disconnected state. For example, if the first camera corresponds to the first state register, and the value in the first state register is "0", the port state of the first camera is the connected state; if the first camera corresponds to the first state register, and the value in the first state register is "1", the port state of the first camera is the disconnected state.

[0080] Exemplarily, the value in the state register can change with the change of the port state of the corresponding camera. Taking an example that the value "0" in the state register represents the port state as the connected state, and the value "1" in the state register represents the port state as the disconnected state. In some examples, when the first camera is switched from the connected state to the disconnected state (the port state of the first camera is switched from the connected state to the disconnected state), the value in the first state register is changed from "0" to "1".

[0081] In some embodiments of the present disclosure, step 2021 can include: in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in a disconnected state, triggering a processor interrupt; and in response to the processor interrupt, executing an interrupt handler querying the state register corresponding to each camera at the first time to obtain a query result.

[0082] For example, referring to FIG. 1, in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in a disconnected state, triggering a processor interrupt, and in response to the processor interrupt, executing an interrupt handler querying the state register corresponding to each camera at the first time to obtain a query result can include: when the state of the interrupt pin of the processor 101 is a first level, triggering an interrupt of the processor 101, and the processor 101 responds to the interrupt and continuously sends a query instruction to the state register corresponding to each camera in the deserializer 102 through the I2C bus in the interrupt service program to query the latest data in each state register (real-time receiving the latest stored value returned by each camera corresponding to the state register in response to the query instruction).

[0083] In the embodiments of the present disclosure, since the interrupt is triggered only when at least one camera in the plurality of cameras is in a disconnected state, and the state register corresponding to each camera is queried, the occupation of the processor resources can be reduced.

[0084] Step 2022, determining the port state corresponding to each camera at the first time based on the query result.

[0085] For example, referring to FIG. 1, step 2022 can include: the processor 101 acquires a port state correspondence relationship, and determines the port state corresponding to each camera at the first time according to the value stored in each state register and the port state correspondence relationship.

[0086] For example, the value in the state register includes “0” and “1” used to indicate different port states. In some examples, the port state correspondence relationship can include the port state corresponding to the value “0” and the value “1”. For example, the port state correspondence relationship can include that the corresponding port state represented by the value “0” is a connected state, and the corresponding port state represented by the value “1” is a disconnected state. For another example, the port state correspondence relationship can also include that the corresponding port state represented by the value “0” is a disconnected state, and the corresponding port state represented by the value “1” is a connected state.

[0087] In the embodiments of the present disclosure, since the state of each state register in the deserializer corresponds to the connection state of the corresponding camera, by querying the state register corresponding to each camera at the first time in the deserializer, the port state corresponding to the camera at the first time can be accurately determined according to the query result.

[0088] In some embodiments of the present disclosure, since the at least one camera in the disconnected state can include at least one camera other than the first camera, or the at least one camera other than the first camera in the plurality of cameras is switched from the connected state to the disconnected state at the first time, that is, after the data output of the first camera is restored, the plurality of cameras still include at least one camera in the disconnected state, therefore, the interrupt pin state for triggering the interrupt in the deserializer is still the first level triggering the interrupt, and it is necessary to continue to determine the port state corresponding to each camera to restore the normal data output of the at least one camera switched from the disconnected state to the connected state later.

[0089] As shown in FIG. 4, on the basis of the embodiment shown in FIG. 2 described above, after the data output of the first camera is restored, the multi-camera control method further includes steps 204 to 205 as follows.

[0090] Step 204, determining the port state corresponding to each camera at a second time.

[0091] The second time is after the first time.

[0092] Exemplarily, the second time can be a time after the data output of the first camera is restored.

[0093] Exemplarily, with reference to FIG. 1, the step 204 can include that the processor 101 continues to send the query instruction to the deserializer 102 to query the latest value in the state register corresponding to each camera in the deserializer 102 after sending the initialization instruction to the first camera, and determines the port state corresponding to each camera at the second time based on the latest value.

[0094] In some examples, the implementation manner of determining the port state corresponding to each camera at the second time based on the latest value is similar to the implementation manner of determining the port state corresponding to each camera at the first time based on the latest value, and the embodiments of the present disclosure will not be repeated here.

[0095] Step 205, in response to the port state corresponding to the second camera in the plurality of cameras at the second time being switched from the disconnected state to the connected state, restoring the data output of the second camera.

[0096] Exemplarily, the second camera can be the second camera switched from the disconnected state to the connected state after the data output of the first camera is restored.

[0097] For example, the plurality of cameras include the first camera to the eleventh camera. In some examples, if the at least one camera in the disconnected state includes the tenth camera and the eleventh camera, the tenth camera is the first camera, and the eleventh camera is the second (next after the tenth camera) to switch from the disconnected state to the connected state, the eleventh camera is determined as the second camera. If the at least one camera in the disconnected state includes the tenth camera and the eleventh camera, the eleventh camera is the first camera, and the tenth camera is the second (next after the tenth camera) to switch from the disconnected state to the connected state, the tenth camera is determined as the second camera.

[0098] In other examples, if the at least one camera in the disconnected state includes the tenth camera, the tenth camera is the first camera, and the ninth camera switches from the connected state to the disconnected state at the first time and switches from the disconnected state to the connected state at the second time, the ninth camera is determined as the second camera. If the at least one camera in the disconnected state includes the eleventh camera, the eleventh camera is the first camera, and the eighth camera switches from the connected state to the disconnected state at the first time and switches from the disconnected state to the connected state at the second time, the eighth camera is determined as the second camera.

[0099] For example, referring to FIG. 1, when the processor 101 determines that the connected state of the second camera corresponding to the port state of the second camera switches from the disconnected state to the connected state, the processor 101 sends an initialization instruction to the second camera to initialize and configure the second camera, so that the second camera can output the detected data.

[0100] In the embodiments of the present disclosure, after the data output of the first camera is restored, the port state of each camera corresponding to the second time is determined, the latest connection state of the plurality of cameras is determined, and when the port state of the second camera corresponding to the second time switches from the disconnected state to the connected state, the data output of the second camera is restored. In this way, according to the latest connection state of the plurality of cameras, the corresponding camera is restored, which can improve the real-time performance and accuracy of the hot plug recovery of the plurality of cameras.

[0101] As shown in FIG. 5, based on the above-mentioned embodiment shown in FIG. 2, after the data output of the first camera is restored, the multi-camera control method further includes the following steps 206 to 207.

[0102] Step 206: determining the port state of each camera corresponding to the third time.

[0103] The third time is after the first time.

[0104] Exemplarily, the third time point can be the same as the second time point, or can be any time point after the second time point, and the disclosure embodiments do not limit the sequence of the third time point and the second time point. The disclosure embodiments take the third time point as a time point after the second time point as an example for instance description. In some examples, the third time point can be a time point after the data output of the second camera is restored.

[0105] Exemplarily, referring to FIG. 1, the step 204 can include: the processor 101 continues to send a query instruction to the deserializer 102 to query the latest values in the state registers corresponding to the cameras in the deserializer 102 after sending the initialization instruction to the second camera, and determines the port states corresponding to the cameras at the third time point based on the latest values.

[0106] Since the values in the plurality of state registers corresponding to the plurality of cameras change along with the changes of the port states of the plurality of cameras, when the plurality of cameras are all in the connection state, the values in the plurality of state registers corresponding to the plurality of cameras can all be the values corresponding to the connection state (for example, the value “0”).

[0107] The step 207 closes the processor interrupt in response to the port states corresponding to the plurality of cameras at the third time point all being the connection state.

[0108] Referring to FIG. 1, the step 207 can include: the processor 101 disables the interrupt pin coupled with the interrupt pin of the deserializer 102 when determining that the values in the plurality of state registers are all the values corresponding to the connection state.

[0109] In the disclosure embodiments, when it is determined that the port states corresponding to the plurality of cameras are all the connection state, closing the processor interrupt can reasonably reduce the occupation amount of processor resources.

[0110] In some examples of the disclosure, since the state of the interrupt pin of the deserializer changes along with the changes of the port states of the plurality of cameras, when the port states corresponding to the plurality of cameras are all the connection state, the state of the interrupt pin of the deserializer can be the second level. That is, the interrupt signal received by the interrupt pin (coupled with the interrupt pin of the deserializer) of the processor is the second level, and further, the processor interrupt can be turned off through the second level.

[0111] As shown in FIG. 6, on the basis of the above-mentioned embodiment shown in FIG. 2, before determining the state of the interrupt pin of the deserializer for triggering the interrupt, the multi-camera control method further includes the following step 208.

[0112] The step 208 pre-configures the state of the interrupt pin of the deserializer corresponding to the port state of each camera in the plurality of cameras.

[0113] For example, referring to FIG. 1, the processor 101 can send a configuration instruction to the configuration register in the deserializer 102 through the I2C bus, and configure the interrupt pin state of the deserializer 102 to correspond to the port state of each camera in the plurality of cameras.

[0114] For example, as shown in FIG. 1, the configuration register in the deserializer 102 can be 8 bits or 16 bits, and the number of bits of the configuration register is not limited in the embodiments of the present disclosure. For example, the number of bits of the configuration register is 8 bits.

[0115] In some examples, the processor 101 sending a configuration instruction to the configuration register in the deserializer 102 can include the processor 101 writing a value to the configuration register. For example, the number of bits of the configuration register is 8 bits, and the processor 101 writes an 8-bit “0” or “1” data to the configuration register.

[0116] For example, since different bits in the configuration register are used to represent different functions, and different “0” or “1” data is configured for different bits, the corresponding function can be enabled or disabled. Therefore, for the function “the interrupt pin state of the deserializer 102 corresponds to the port state of each camera in the plurality of cameras”, an 8-bit “0” or “1” value can be uniquely corresponded.

[0117] In some embodiments of the present disclosure, step 208 can include: in response to the port state of at least one camera in the plurality of cameras being in a disconnected state, configuring the interrupt pin state of the deserializer to a first parameter value; and in response to the port state of the plurality of cameras being in a connected state, configuring the interrupt pin state of the deserializer to a second parameter value.

[0118] For example, the first parameter value can correspond to a first level, and the second parameter value can correspond to a second level.

[0119] For example, referring to FIG. 1, when the value of the configuration register in the deserializer 102 is a target value, the interrupt pin state of the deserializer 102 can correspond to the first parameter value when the port state of at least one camera in the plurality of cameras is in a disconnected state, and the interrupt pin state of the deserializer 102 can correspond to the second parameter value when the port state of the plurality of cameras is in a connected state.

[0120] Correspondingly, the processor 101 can write a target value to a configuration register in the deserializer 102, so that when the port state of at least one camera in the plurality of cameras is in the disconnected state, the interrupt pin state of the deserializer 102 is the first parameter value, that is, the interrupt pin state of the deserializer 102 can accurately indicate that at least one camera in the plurality of cameras is in the disconnected state; when the port state of each camera in the plurality of cameras is in the connected state, the interrupt pin state of the deserializer 102 is the second parameter value, that is, the interrupt pin state of the deserializer 102 can accurately indicate that each camera in the plurality of cameras is in the connected state.

[0121] In the embodiments of the present disclosure, by pre-configuring the interrupt pin state of the deserializer corresponding to the port state of each camera in the plurality of cameras, the port state of the plurality of cameras can be accurately determined according to the determined interrupt pin state of the deserializer, without determining the interrupt pin states of the plurality of deserializers and the plurality of processors, so that the consumption of hardware resources can be reduced.

[0122] Exemplary device

[0123] FIG. 7 is a structural schematic diagram of a multi-camera control device according to an exemplary embodiment of the present disclosure. As shown in FIG. 7, the multi-camera control device 70 includes a deserializer 701 and a processor 702.

[0124] The deserializer 701 is coupled to the processor 702 and configured to output an interrupt pin state for triggering an interrupt to the processor 702.

[0125] The processor 702 is configured to receive the interrupt pin state, determine the port state of each camera at a first time in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state, and resume data output of the first camera in response to the port state of the first camera in the plurality of cameras at the first time being switched from the disconnected state to the connected state.

[0126] In some embodiments, the processor 702 is configured to receive the interrupt pin state, and send a query instruction to the deserializer 701 in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state.

[0127] The deserializer 701 is configured to query the state of the state register of each camera at the first time in response to the query instruction, obtain a query result, and send the query result to the processor 702.

[0128] In some embodiments, the processor 702 is specifically configured to trigger a processor interrupt in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state, and execute an interrupt handling program of sending the query instruction to the deserializer 701 in response to the processor interrupt.

[0129] In some embodiments, after the processor 702 resumes the data output of the first camera, the processor 702 is further configured to determine the port state of each camera corresponding to a second time; in response to the port state of the second camera corresponding to the second time being switched from the disconnected state to the connected state, the data output of the second camera is resumed; wherein the second time is after the first time.

[0130] In some embodiments, after the processor 702 resumes the data output of the first camera, the processor 702 is further configured to determine the port state of each camera corresponding to a third time; in response to the port state of each camera corresponding to the third time being the connected state, the processor interrupt is closed; wherein the third time is after the first time.

[0131] In some embodiments, the processor 702 is further configured to pre-configure the interrupt pin state of the deserializer 701 corresponding to the port state of each camera in the plurality of cameras.

[0132] In some embodiments, the processor 702 is further configured to, in response to the port state of at least one camera in the plurality of cameras being the disconnected state, configure the interrupt pin state of the deserializer 701 to be a first parameter value; and in response to the port state of each camera in the plurality of cameras being the connected state, configure the interrupt pin state of the deserializer 701 to be a second parameter value.

[0133] As to one of the above-mentioned embodiments of the multi-camera control device, the specific manner of operation performed by each component and the corresponding beneficial effects have been described in detail in the corresponding embodiment part of the aforementioned multi-camera control method part. Please refer to the corresponding operation manner and beneficial technical effects described in the above-mentioned exemplary method part, which will not be repeated here.

[0134] Exemplary device

[0135] FIG. 8 is a structural schematic diagram of a multi-camera control device according to an exemplary embodiment of the present disclosure. As shown in FIG. 8, the multi-camera control device 80 can include a first determining module 801, a second determining module 802, and a first resuming module 803.

[0136] The first determining module 801 is configured to determine the interrupt pin state of the deserializer for triggering the interrupt;

[0137] The second determining module 802 is configured to, in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state, determine the port state of each camera corresponding to a first time;

[0138] The first recovery module 803 is configured to recover data output of the first camera in response to the port state corresponding to the first camera at the first time being switched from the disconnected state to the connected state.

[0139] In some embodiments, as shown in FIG. 9, the second determination module 802 can include a query unit 8021 and a determination unit 8022 based on the above-described embodiment shown in FIG. 8.

[0140] The query unit 8021 is configured to query the state register corresponding to each camera at the first time in the deserializer to obtain a query result in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state.

[0141] The determination unit 8022 is configured to determine the port state corresponding to each camera at the first time based on the query result.

[0142] In some embodiments, as shown in FIG. 10, the query unit 8021 can include a trigger subunit 1001 and a query subunit 1002 based on the above-described embodiment shown in FIG. 9.

[0143] The trigger subunit 1001 is configured to trigger the processor interrupt in response to the interrupt pin state indicating that at least one camera in the plurality of cameras is in the disconnected state.

[0144] The query subunit 1002 executes the interrupt handler of the state register corresponding to each camera at the first time in response to the processor interrupt to obtain a query result.

[0145] In some embodiments, as shown in FIG. 11, the multi-camera control device 80 can further include a third determination module 804 and a second recovery module 805 based on the above-described embodiment shown in FIG. 8.

[0146] The third determination module 804 is configured to determine the port state corresponding to each camera at the second time; wherein the second time is after the first time.

[0147] The second recovery module 805 is configured to recover data output of the second camera in response to the port state corresponding to the second camera at the second time being switched from the disconnected state to the connected state.

[0148] In some embodiments, as shown in FIG. 12, the multi-camera control device 80 can further include a fourth determination module 806 and a shutdown module 807 based on the above-described embodiment shown in FIG. 8.

[0149] The fourth determination module 806 is configured to determine the port state corresponding to each camera at the third time; wherein the third time is after the first time.

[0150] The closing module 807 is configured to close the processor interrupt in response to the port state of each camera of the plurality of cameras being in the connected state at the third time.

[0151] In some embodiments, as shown in FIG. 13, on the basis of the above-mentioned embodiment of FIG. 8, the multi-camera control apparatus 80 can further include a configuration module 808.

[0152] The configuration module 808 is configured to pre-configure the interrupt pin state of the deserializer corresponding to the port state of each camera of the plurality of cameras.

[0153] In some embodiments, as shown in FIG. 14, the configuration module 808 can include a first configuration unit 8081 and a second configuration unit 8082.

[0154] The first configuration unit 8081 is configured to configure the interrupt pin state of the deserializer as a first parameter value in response to the port state of at least one camera of the plurality of cameras being in the disconnected state.

[0155] The second configuration unit 8082 is configured to configure the interrupt pin state of the deserializer as a second parameter value in response to the port state of each camera of the plurality of cameras being in the connected state.

[0156] As to the multi-camera control apparatus in the above-mentioned embodiments, the specific manners in which each module performs operations and the corresponding beneficial effects have been described in detail in the corresponding embodiment parts of the above-mentioned multi-camera control method part, and can be referred to the corresponding operation performing manners and the beneficial technical effects in the above-mentioned exemplary method part, which will not be described herein again.

[0157] Exemplary electronic device

[0158] FIG. 15 is a structural schematic diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in FIG. 15, the electronic device 150 includes one or more processors 1501 and a memory 1502.

[0159] The processor 1501 can be a central processing unit (CPU) or other forms of processing unit having data processing capability and / or instruction execution capability, and can control other components in the electronic device 150 to perform desired functions.

[0160] The memory 1502 can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache, and / or the like. The non-volatile memory, for example, can include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 1501 can run the program instructions to implement the multi-camera control method of various embodiments of the present disclosure and / or other desired functions.

[0161] In one example, the electronic device 150 can further include an input device 1503 and an output device 1504, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0162] Of course, for simplicity, only some of the components related to the present disclosure in the electronic device 150 are shown in FIG. 15, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 150 can further include any other appropriate components according to specific application cases.

[0163] Example computer program product and computer-readable storage medium

[0164] In addition to the above method and device, embodiments of the present disclosure can also provide a computer program product including computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the multi-camera control method of various embodiments of the present disclosure described in the above "Example Method" section.

[0165] The computer program product can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, and / or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server.

[0166] In addition, an embodiment of the present disclosure can also be a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps of the multi-camera control method of various embodiments of the present disclosure described in the above "Exemplary Method" section.

[0167] The computer readable storage medium can take the form of one or more combinations of any type of computer readable medium. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium includes, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0168] The above describes the basic principles of the present disclosure in conjunction with specific embodiments, but the advantages, benefits, effects and the like mentioned in the present disclosure are only examples and are not limiting, and it cannot be considered that each embodiment of the present disclosure must have them. In addition, the above specific details are only for the purpose of example and for the purpose of understanding, and are not limiting, and the above details do not limit the present disclosure to be necessarily implemented with the above specific details.

[0169] Those skilled in the art can make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A multi-camera control method, the method comprising: determining an interrupt pin state in a deserializer for triggering an interrupt; in response to the interrupt pin state indicating that at least one camera among a plurality of cameras is in a disconnected state, determining a port state of each of the cameras corresponding to a first time; in response to a port state of a first camera among the plurality of cameras corresponding to the first time being switched from a disconnected state to a connected state, resuming data output of the first camera.

2. The method of claim 1, wherein, The determining a port state of each of the cameras corresponding to the first time in response to the interrupt pin state indicating that at least one camera among a plurality of cameras is in a disconnected state, comprises: in response to the interrupt pin state indicating that at least one camera among the plurality of cameras is in a disconnected state, querying a state register of each of the cameras corresponding to the first time in the deserializer to obtain a query result; based on the query result, determining a port state of each of the cameras corresponding to the first time.

3. The method of claim 2, wherein, The querying a state register of each of the cameras corresponding to the first time in the deserializer to obtain a query result in response to the interrupt pin state indicating that at least one camera among the plurality of cameras is in a disconnected state, comprises: in response to the interrupt pin state indicating that at least one camera among the plurality of cameras is in a disconnected state, triggering an interrupt of a processor; in response to the interrupt of the processor, executing an interrupt handler of querying the state register of each of the cameras corresponding to the first time to obtain the query result. 4.The method of any one of claims 1 to 3, after the resuming data output of the first camera, the method further comprising: determining a port state of each of the cameras corresponding to a second time; wherein the second time is after the first time; in response to a port state of a second camera among the plurality of cameras corresponding to the second time being switched from a disconnected state to a connected state, resuming data output of the second camera. 5.The method of any one of claims 1 to 3, after the resuming data output of the first camera, the method further comprising: determining a port state of each of the cameras corresponding to a third time; wherein the third time is after the first time; in response to the port state of each of the plurality of cameras corresponding to the third time being a connected state, closing the interrupt of the processor. 6.The method of any one of claims 1 to 3, further comprising: pre-configuring an interrupt pin state of the deserializer corresponding to a port state of each of the plurality of cameras.

7. The method of claim 6, wherein, The pre-configuring an interrupt pin state of the deserializer corresponding to a port state of each of the plurality of cameras, comprises: in response to the port state of at least one of the plurality of cameras being a disconnected state, configuring the interrupt pin state of the deserializer as a first parameter value; in response to the port state of each of the plurality of cameras being a connected state, configuring the interrupt pin state of the deserializer as a second parameter value. 8.A multi-camera control device, comprising: a deserializer, coupled to the processor, configured to output an interrupt pin state for triggering an interrupt to the processor; the processor is configured to receive the interrupt pin state; in response to the interrupt pin state indicating that at least one of the plurality of cameras is in a disconnected state, determine a port state of each of the plurality of cameras at a first time; and in response to a port state of a first camera of the plurality of cameras switching from a disconnected state to a connected state at the first time, resume data output of the first camera.

9. The device of claim 8, wherein, the processor is configured to receive the interrupt pin state; and in response to the interrupt pin state indicating that at least one of the plurality of cameras is in a disconnected state, send a query instruction to the deserializer; the deserializer is configured to query a state register of each of the plurality of cameras at the first time in response to the query instruction, obtain a query result, and send the query result to the processor.

10. The device of claim 8 or 9, wherein, the processor is further configured to send a configuration instruction to the deserializer for configuring the interrupt pin state of the deserializer; and the deserializer is configured to, in response to the configuration instruction, configure the interrupt pin state to a first parameter value when a port state of at least one of the plurality of cameras is in a disconnected state, and configure the interrupt pin state to a second parameter value when port states of the plurality of cameras are all in a connected state.

11. A multi-camera control apparatus, comprising: a first determination module configured to determine an interrupt pin state in a deserializer for indicating triggering an interrupt; a second determination module configured to, in response to the interrupt pin state indicating that at least one of the plurality of cameras is in a disconnected state, determine a port state of each of the plurality of cameras at a first time; and a first resumption module configured to, in response to a port state of a first camera of the plurality of cameras switching from a disconnected state to a connected state at the first time, resume data output of the first camera.

12. A computer readable storage medium, the storage medium storing a computer program, the computer program being configured to perform the multi-camera control method of any one of claims 1 to 7.

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