Method, system, and apparatus for processing parking, and vehicle controller
The present disclosure provides a method, system, and apparatus for processing parking and a vehicle controller, and relates to the field of intelligent transportation technology, specifically to the field of automated parking technology. The method is executed by a parking system deployed on a vehicle controller, the parking system including a perception module and other modules except the perception module; the perception module being deployed on a first operating system in the vehicle controller; and the other modules being deployed on a second operating system in the vehicle controller; the method includes: processing an image collected by an image collector through the perception module to obtain perception result data; and controlling a vehicle based on the perception result data obtained from the perception module by the other modules.
1. A method for processing parking, executed by a parking system deployed on a vehicle controller, the parking system comprising a perception module and other modules except the perception module; the perception module being deployed on a first operating system, using computing power of a GPU and a DSP of the vehicle controller, in the vehicle controller; and the other modules being deployed on a second operating system, different from the first operating system and being implemented by a CPU of the vehicle controller, in the vehicle controller;
the method comprising:
processing an image collected by an image collector through the perception module to obtain perception result data; and
controlling a vehicle based on the perception result data obtained from the perception module by the other modules.
2. The method according to claim 1 , wherein the first operating system and the second operating system have a shared memory area; and
the perception module and the other modules perform data interaction through the shared memory area.
3. The method according to claim 2 , wherein the shared memory area is used to acquire an image comprising ultrasound data from the second operating system, such that the first operating system acquires the image comprising ultrasound data from the shared memory area.
4. The method according to claim 2 , wherein the second operating system is further deployed with a surround view monitoring system; and
the shared memory area is used to store the image collected by the image collector, such that the perception module and the surround view monitoring system acquire the image from the shared memory area.
5. The method according to claim 1 , wherein the first operating system is an Android operating system, and the second operating system is a QNX operating system.
6. The method according to claim 1 , further comprising:
sending, by the second operating system in the vehicle controller, a clock synchronization request message to a receiver operating system at least two times; the clock synchronization request message comprising message sending time based on a time reference of the requester operating system, the receiver operating system being the first operation system;
acquiring, by the second operating system in the vehicle controller, a clock synchronization feedback message of the receiver operating system; the clock synchronization feedback message comprising message receiving time based on a time reference of the receiver operating system; and
determining, by the second operating system in the vehicle controller, a system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times.
7. The method according to claim 6 , wherein the determining, by the second operating system in the vehicle controller, the system time reference deviation between the requester operating system and the receiver operating system, based on the message receiving time and the message sending time of the clock synchronization at least two times, comprises:
determining, by the second operating system in the vehicle controller, separately time differences between the message receiving time and the message sending time during the clock synchronization at least two times; and
using, by the second operating system in the vehicle controller, a minimum time difference in the time differences of the clock synchronization at least two times as the system time reference deviation between the requester operating system and the receiver operating system.
8. The method according to claim 7 , wherein, after determining, by the second operating system in the vehicle controller, the system time reference deviation between the requester operating system and the receiver operating system, the method further comprises:
acquiring, by the second operating system in the vehicle controller, a target data message sent by the receiver operating system, wherein the target data message comprises target data sending time based on the time reference of the receiver operating system; and
determining, by the second operating system in the vehicle controller, target data sending time based on the time reference of the requester operating system, based on the system time reference deviation and the target data sending time.
9. A parking system, comprising a perception module and other modules except the perception module; the perception module being deployed on a first operating system, using computing power of a GPU and a DSP of the vehicle controller, in a vehicle controller; the other modules being deployed on a second operating system, different from the first operating system and being implemented by a CPU of the vehicle controller, in the vehicle controller;
wherein the perception module is configured to process an image collected by an image collector to obtain perception result data; and
the other modules are configured to control a vehicle based on the perception result data obtained from the perception module.
10. The parking system according to claim 9 , wherein the first operating system and the second operating system have a shared memory area; and
the perception module and the other modules perform data interaction through the shared memory area.
11. The parking system according to claim 10 , wherein the shared memory area is used to acquire an image comprising ultrasound data from the second operating system, such that the first operating system acquires the image comprising ultrasound data from the shared memory area.
12. The parking system according to claim 10 , wherein the second operating system is further deployed with a surround view monitoring system; and
the shared memory area is used to store the image collected by the image collector, such that the perception module and the surround view monitoring system acquire the image from the shared memory area.
13. The parking system according to claim 9 , wherein the first operating system is an Android operating system, and the second operating system is a QNX operating system.