High-speed automatic driving automatic exposure control method based on image gradient and entropy fusion
An automatic driving, image gradient technology, applied in image communication, color TV components, TV system components, etc., can solve the problems of insufficient robustness and limited dynamic range of the pictures obtained by the camera, and improve the quality and exposure time. Accurate prediction value, detailed analysis of brightness changes
Active Publication Date: 2020-05-29
禾多科技(北京)有限公司
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[0002] During the driving process, the self-driving vehicle needs to obtain images through the camera installed on the vehicle to analyze the obstacles around the vehicle in real time, so as to facilitate the driving safety of the self-driving vehicle. Therefore, the quality of the image obtained by the camera is directly related to the vehicle control system's response to obstacles. The accuracy of the object judgment has an important impact on the driving safety of the vehicle. The main index for judging the image quality acquired by the camera is the exposure quality of the image acquired by the camera. The existing methods to improve the exposure quality of the camera mainly use the gradient of the image Calculating the exposure time of the camera, this method makes the dynamic range of the camera's image acquisition very limited and not robust enough, so in order to ensure a more accurate control of the camera's exposure time when acquiring images, a new method needs to be developed
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[0037] The present invention will be described in detail below in conjunction with the accompanying drawings, so that those of ordinary skill in the art can implement it after referring to this specification.
[0038] Such as figure 1 and figure 2 As shown, an automatic exposure control method for high-speed automatic driving based on image gradient and entropy fusion, including: acquiring a frame of image by the camera;
[0039] Gradient and image entropy weighting are carried out to described image and obtain the measure value of the exposure quality of described image; The weighting method of described gradient and image entropy is as shown in formula 1:
[0040] I=α∑m i +(1-α)·H Formula 1;
[0041] Among them, I is the measurement value; α is the fusion ratio parameter of gradient and image entropy; m i is the gradient value of the i-th pixel in the image; H is the image entropy value;
[0042] use the gamma transformation to determine the optimal gamma value; and
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The invention discloses a high-speed automatic driving automatic exposure control method based on image gradient and entropy fusion. The method comprises the following steps: acquiring a frame of image by a camera; performing gradient and image entropy weighting on the image to obtain a measurement value of exposure quality of the image; determining an optimal gamma value by utilizing gamma transformation; and obtaining an exposure time prediction value of the next frame of image shot by the camera by utilizing the metric value and the gamma value. The dynamic range of images acquired by the camera is effectively enlarged, so that good exposure control performance can be guaranteed under complex light, and the quality of images acquired by an automatic driving vehicle is further improved.
Description
technical field [0001] The invention relates to the technical field of automatic driving camera control, in particular to an automatic exposure control method for high-speed automatic driving based on image gradient and entropy fusion. Background technique [0002] During the driving process, the self-driving vehicle needs to obtain images through the camera installed on the vehicle to analyze the obstacles around the vehicle in real time, so as to facilitate the driving safety of the self-driving vehicle. Therefore, the quality of the image obtained by the camera is directly related to the vehicle control system's response to obstacles. The accuracy of the object judgment has an important impact on the driving safety of the vehicle. The main index for judging the image quality acquired by the camera is the exposure quality of the image acquired by the camera. The existing methods to improve the exposure quality of the camera mainly use the gradient of the image Calculating ...
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IPC IPC(8): H04N5/235
CPCH04N23/741H04N23/73
Inventor 杨培文倪凯
Owner 禾多科技(北京)有限公司