Method, controller and system for adapting vehicle camera to shadow area

Abstract

The invention discloses a method for adapting a vehicle camera to a shadow area based on a shadow recognition technology. The method comprises the following steps: acquiring reference outline information and reference position information of a fixed object according to a three-dimensional map; constructing a shadow map according to the sunlight irradiation direction information, the reference outline information and the reference position information; calculating a target dark area according to the sunlight irradiation direction information, the target outline information and the target position information; updating the shadow map in real time according to the target dark area; and according to the vehicle position information, a bright area illumination intensity value, a dark area illumination intensity value and the updated shadow map, adjusting the exposure parameter of the camera in real time. The invention further discloses a controller and a system related to the method. According to the invention, the image brightness of the camera can be quickly and effectively adjusted to adapt to areas with different illumination brightness.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method, a controller and a system for adapting a vehicle camera to a shadow area based on shadow recognition technology. Background technique [0002] On urban roads, there are many high-rise buildings, and the sun shining on the buildings leaves shadows on the roads, which makes the road illumination change greatly. For the camera of a self-driving car, the change of this shadow will have a great impact on the image recognition of the camera, thereby affecting driving safety. [0003] The automatic exposure of a digital camera (video camera) usually uses a TTL (throughthelens) method for photometry, that is, the signal output by the image sensor is used to measure the illuminance at the same time. This method generally goes through three key steps: brightness acquisition, brightness analysis, and exposure adjustment. [0004] In the prior art, at the beginning of a...

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Problems solved by technology

[0006] However, there are two problems in this automatic exposure (adaptive) method: (1) the response speed is slow, (2) the range of luminosity that can be adjusted is limited, and it is difficult for the transition between the bright bright area and the dark dark area When switching, especially when switching quickly, it is impossible to make timely and effective adjustments, which will affect the driving safety of automatic driving.

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