Local generation of commands to a vehicle sensor
An apparatus for controlling an imaging sensor in a vehicle includes an Ethernet transceiver, a sensor interface and a local processor. The Ethernet transceiver is configured to communicate over an in-vehicle Ethernet network with a remote processor. The sensor interface is configured to communicate with the imaging sensor. The local processor that is local to the apparatus and remotely located from the remote processor is configured to receive from the imaging sensor, via the sensor interface, image data and auxiliary data related to the image data, to send at least the image data to the remote processor via the Ethernet transceiver, to generate locally, based on the auxiliary data, and independently from the remote processor, control commands to control an operational aspect of the imaging sensor, and to send the control commands to the imaging sensor via the sensor interface.
1 . An apparatus for controlling an imaging sensor in a vehicle, the apparatus comprising:
an Ethernet transceiver configured to communicate, over an in-vehicle Ethernet network, with a remote processor;
a sensor interface configured to communicate with the imaging sensor; and
a local processor that is (i) local to the apparatus and (ii) remotely located from the remote processor, the local processor configured to:
receive from the imaging sensor, via the sensor interface, (i) image data and (ii) auxiliary data related to the image data, and send at least the image data to the remote processor via the Ethernet transceiver;
generate locally at the local processor, (i) based on the auxiliary data and (ii) independently from the remote processor, a control command to control an operational aspect of the imaging sensor, wherein the control command to control the operational aspect of the imaging sensor is also generatable by the remote processor independently from the local processor;
send the control command to control the operational aspect of the imaging sensor to the imaging sensor via the sensor interface on behalf of the remote processor; and
prevent the remote processor from independently sending the same control command to control the operational aspect of the imaging sensor by informing the remote processor that the control command to control the operational aspect of the imaging sensor has already been sent by the local processor.
2 . The apparatus according to claim 1 , wherein the local processor is configured to generate the control command locally instead of the remote processor, so as to reduce traffic load in the Ethernet network created by sending control commands for controlling the sensor by the remote processor over the Ethernet network.
3 . The apparatus according to claim 1 , wherein the transceiver comprises a transmitter and a receiver, and wherein the local processor is configured to power down the receiver, in response to detecting that no commands are received from the remote processor for a predefined period.
4 . The apparatus according to claim 1 , wherein the imaging sensor comprises a camera that is configured to generate the image data by capturing individual image frames, and to provide the auxiliary data for the individual image frames, and wherein the local processor is configured to locally generate the control command by processing the auxiliary data for the individual image frames.
5 . The apparatus according to claim 4 , wherein the individual image frames comprise multiple image pixels, wherein the auxiliary data comprises a histogram of luminance levels associated with the image pixels of a given image frame, and wherein the local processor is configured to locally generate the control command by processing the histogram of the given image frame.
6 . The apparatus according to claim 4 , wherein the local processor is configured to generate the control command to control a quality level of the individual image frames by controlling one or more operational aspects of the camera selected from a list comprising: exposure time, contrast, color balance, aperture, and sensor sensitivity.
7 . The apparatus according to claim 1 wherein the local processor is configured to locally provide the control command to the sensor at a first latency that is shorter than a second latency incurred in remotely providing the control command by the remote processor.
8 . The apparatus according to claim 1 , wherein the local processor is configured to receive from the remote processor a given control command that the remote processor has generated based on one or both of the image data and the auxiliary data, and to send the received given control command to the imaging sensor.
9 . The apparatus according to claim 8 , wherein the sensor comprises a camera that generates the image data by capturing multiple image frames, and wherein the given control command comprises a focus command that the remote processor generated by analyzing two or more of the image frames, for controlling a focus setting of the camera.
10 . A method for controlling an imaging sensor in a vehicle, the method comprising:
in an apparatus that communicates (i) locally with an imaging sensor via a sensor interface and (ii) with a remote processor over an in-vehicle Ethernet network using an Ethernet transceiver,
receiving from the imaging sensor via the sensor interface (i) image data and (ii) auxiliary data related to the image data, and sending at least the image data to the remote processor over the Ethernet network using the Ethernet transceiver;
generating locally in the apparatus, (i) based on the auxiliary data and (ii) independently from the remote processor, a control command to control an operational aspect of the imaging sensor, wherein the control command to control the operational aspect of the imaging sensor is also generatable by the remote processor independently from the local processor;
sending the control command to control the operational aspect of the imaging sensor to the imaging sensor via the sensor interface on behalf of the remote processor; and
preventing the remote processor from independently sending the control command to control the operational aspect of the imaging sensor by informing the remote processor that the control command to control the operational aspect of the imaging sensor has already been sent by the local processor.
11 . The method according to claim 10 , wherein generating the control command comprises generating the control command locally in the apparatus instead of the remote processor, so as to reduce traffic load in the Ethernet network created by sending control commands for controlling the sensor by the remote processor over the Ethernet network.
12 . The method according to claim 10 , wherein the transceiver comprises a transmitter and a receiver, and comprising powering down the receiver, in response to detecting that no commands are received from the remote processor for a predefined period.
13 . The method according to claim 10 , wherein the imaging sensor comprises a camera that generates the image data by capturing individual image frames and provides the auxiliary data for the individual image frames, and wherein locally generating the control command comprises processing the auxiliary data for the individual image frames.
14 . The method according to claim 13 , wherein the individual image frames comprise multiple image pixels, wherein the auxiliary data comprises a histogram of luminance levels associated with the image pixels of a given image frame, and wherein generating the control command comprises processing the histogram of the given image frame.
15 . The method according to claim 13 , wherein generating the control command to control a quality level of the image frames comprises controlling one or more operational aspects of the camera selected from a list comprising: exposure time, contrast, color balance, aperture, and sensor sensitivity.
16 . The method according to claim 10 , wherein sending the control command comprises locally providing the control command to the sensor at a first latency that is shorter than a second latency incurred in remotely providing the given control command by the remote processor.
17 . The method according to claim 10 , and from the remote processor a given comprising receiving control command that the remote processor has generated based on one or both of the image data and the auxiliary data, and sending the received given control command to the imaging sensor.
18 . The method according to claim 17 , wherein the sensor comprises a camera that generates the image data by capturing multiple image frames, and wherein the given control command comprises a focus command that the remote processor generated by analyzing two or more of the image frames, for controlling a focus setting of the camera.
19 . The apparatus according to claim 1 , wherein the local processor is configured to inform the remote processor that the control command has already been sent, only when the control command is of a defined type of control commands.
20 . The apparatus according to claim 19 , wherein the defined type of control commands corresponds to commands that are generated frequently.
21 . The method according to claim 10 , wherein informing the remote processor that the control command has already been sent is performed only when the control command is of a defined type of control commands.
22 . The method according to claim 21 , wherein the defined type of control commands corresponds to commands that are generated frequently.