Vehicle assisted driving control method, device, equipment, storage medium and product

Abstract

The present application provides a vehicle assisted driving control method, device, equipment, storage medium and product. The method includes: detecting the vehicle position information of the target vehicle during the driving process of the target vehicle; determining the target historical image that meets the quality selection conditions based on the historical images collected at the vehicle position information; determining a first acquisition angle using the shooting angle corresponding to the camera that captured the target historical image; adjusting the angle of the target camera according to the target image collected by the target camera of the target vehicle to obtain a second acquisition angle corresponding to the target camera; weighting the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera; controlling the shooting angle of the target camera to switch to the target shooting angle; and controlling the driving state of the target vehicle using the target shooting angle. The method of the present application improves the control efficiency and effectiveness of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of electronic equipment technology, particularly the field of autonomous driving, and more particularly to a vehicle assisted driving control method, device, equipment, storage medium and product. Background Art

[0002] In autonomous vehicle systems, cameras serve as devices for capturing the vehicle's direction of travel, and the quality of the images they capture plays a vital role in vehicle safety. In practical applications, because cameras are often made of materials such as PVC (Polyvinylchloride) and PC (Polycarbonate), they may be directly exposed to sunlight in clear weather, resulting in reflections. In this case, light spots may appear in the images captured by the camera. When light spots occur, the image is not clear, and obstacles may not be captured, leading to safety accidents for autonomous vehicles. How to prevent unclear images captured by cameras from causing driving accidents in autonomous driving systems is currently a pressing issue that needs to be addressed. Summary of the Invention

[0003] The present application provides a vehicle assisted driving control method, device, equipment, storage medium and product to solve the problem that the vehicle's camera images are not clear and driving accidents are prone to occur.

[0004] In a first aspect, the present application provides a vehicle assisted driving control method, comprising:

[0005] During the driving process of the target vehicle, detecting the vehicle position information of the target vehicle;

[0006] Determining a target historical image that meets a quality selection condition based on the historical images collected at the vehicle location information;

[0007] Determine a first acquisition angle using a shooting angle corresponding to a camera that shoots the target historical image;

[0008] According to the target image captured by the target camera of the target vehicle, the target camera is adjusted in angle to obtain a second capture angle corresponding to the target camera;

[0009] Weighting the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera;

[0010] Controlling the shooting angle of the target camera to switch to the target shooting angle;

[0011] The target shooting angle is utilized to control the driving state of the target vehicle.

[0012] In a second aspect, the present application provides a vehicle assisted driving control device, comprising:

[0013] A position detection unit, used to detect vehicle position information of the target vehicle while the target vehicle is traveling;

[0014] An image selection unit, configured to determine a target historical image that meets a quality selection condition based on the historical images collected at the vehicle position information;

[0015] A first determining unit is configured to determine a first acquisition angle by using a shooting angle corresponding to a camera that shoots the target historical image;

[0016] A second determining unit is configured to adjust the angle of the target camera according to the target image captured by the target camera of the target vehicle to obtain a second capturing angle corresponding to the target camera;

[0017] an angle weighting unit, configured to weight the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera;

[0018] An angle control unit, used to control the shooting angle of the target camera to switch to the target shooting angle;

[0019] A state control unit is used to control the driving state of the target vehicle using the target shooting angle.

[0020] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0021] The memory stores computer-executable instructions;

[0022] The processor executes the computer-executable instructions stored in the memory to implement the vehicle assisted driving control method as described in any one of the first aspects.

[0023] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the vehicle assisted driving control method as described in any one of the first aspects.

[0024] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the vehicle assisted driving control method as described in the first aspect.

[0025] The technical solution provided by this application detects the vehicle position information of a target vehicle while the target vehicle is traveling. This vehicle position information can be used to obtain historical images and determine the target historical images for selecting quality selection conditions. The first acquisition angle can be determined by the shooting angle corresponding to the camera that captured the target historical images. The camera angle is estimated using historical shooting effects. Subsequently, the angle of the target camera is adjusted based on the target image captured by the target camera of the target vehicle to obtain a second acquisition angle corresponding to the target camera. The camera angle is estimated based on the current shooting effect. By weighting the first acquisition angle and the second acquisition angle, the target shooting angle corresponding to the target camera can be obtained. The target shooting angle is determined based on both historical shooting effects and real-time shooting effects, allowing accurate acquisition of the target shooting angle. The shooting angle of the target camera is controlled to switch to the shooting angle, and the target shooting angle is used to control the driving state of the target vehicle. By obtaining the target shooting angle, accurate control of the target vehicle can be achieved, improving the control efficiency and driving safety of the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 A schematic structural diagram of a vehicle assisted driving control system provided in an embodiment of the present application;

[0028] Figure 2 A flowchart of an embodiment of a vehicle assisted driving control method provided in an embodiment of the present application;

[0029] Figure 3 A flowchart of another embodiment of a vehicle assisted driving control method provided in an embodiment of the present application;

[0030] Figure 4 A flowchart of another embodiment of a vehicle assisted driving control method provided in an embodiment of the present application;

[0031] Figure 5 A schematic structural diagram of an embodiment of a vehicle assisted driving control device provided in an embodiment of the present application;

[0032] Figure 6 A block diagram of an electronic device for implementing the vehicle assisted driving method disclosed in the present invention is provided in an embodiment of the present application.

[0033] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0035] The technical solution of this application can be applied to the field of autonomous driving. Vehicle position information can be detected during driving, and this information can be used to weight the historical optimal angle and the currently acquired acquisition angle to accurately adjust the camera's shooting angle. The adjusted angle is used to capture images and control the vehicle's driving status, thereby improving driving safety.

[0036] In related technologies, autonomous vehicles can be equipped with cameras that can capture images or videos of the area in front of the vehicle. The captured images or videos can be used to monitor the road conditions in front of the vehicle, identify obstacles, and avoid them in a timely manner, so that the vehicle can be driven safely. However, in actual applications, since most cameras are made of materials such as PVC (Polyvinyl chloride) and PC (Polycarbonate), if sunlight enters the camera, reflections will occur, and light spots will appear in the images or videos captured by the camera. When light spots appear, they will have a negative impact on image recognition, especially for obstacles within the camera's shooting range. If obstacles happen to be in the light spot area, it will have a huge impact on the vehicle's driving safety.

[0037] In order to solve the above technical problems, this application considers adjusting the shooting angle of the vehicle's camera to achieve clear shooting and improve the vehicle's driving safety. In order to adjust the shooting angle of the camera, the camera's acquisition angle can be determined first. The acquisition angle can be, for example, the angle between the camera and the horizontal plane. In order to obtain a more accurate acquisition angle, this application considers acquiring the camera angle from two aspects. One is to refer to historical images, select the camera shooting angle corresponding to the image with better shooting effect, and determine an angle based on the effect of the current image. The camera's acquisition angle is accurately estimated through the angles of the two aspects to obtain an accurate evaluation effect.

[0038] In the technical solution of the present application, the vehicle position information of the target vehicle can be detected while the target vehicle is traveling. The vehicle position information can be used to obtain historical images and determine the target historical images for selecting quality selection conditions. The first acquisition angle can be determined by the shooting angle corresponding to the camera that captured the target historical images. The camera angle is estimated using the historical shooting effect. Subsequently, the angle of the target camera is adjusted based on the target image captured by the target camera of the target vehicle to obtain the second acquisition angle corresponding to the target camera. The camera angle is estimated based on the current shooting effect. By weighting the first acquisition angle and the second acquisition angle, the target shooting angle corresponding to the target camera can be obtained. The target shooting angle is determined based on both the historical shooting effect and the real-time shooting effect, and the target shooting angle can be accurately obtained. The shooting angle of the target camera is controlled to switch to the shooting angle, and the target shooting angle is used to control the driving state of the target vehicle. By obtaining the target shooting angle, accurate control of the target vehicle can be achieved, thereby improving the control efficiency and driving safety of the target vehicle.

[0039] The technical solution of this application will be described in detail below with reference to the accompanying drawings.

[0040] like Figure 1 FIG. 1 is a schematic diagram of a vehicle assisted driving control system according to an embodiment of the present application. The vehicle assisted driving control system may include a target vehicle 1 and an electronic device 2. The target vehicle 1 may be equipped with a camera 11, the shooting direction of which is consistent with the vehicle's travel direction.

[0041] The target vehicle 1 can transmit data to the electronic device 2 while driving. The transmitted data may include, for example, video captured by the camera 11 and positioning data transmitted by an on-board positioning device (not shown). When the electronic device 2 receives the video and positioning data sent by the target vehicle 1, it can control the driving of the target vehicle based on the technical solution of the present application. That is, it controls the target camera 11 of the target vehicle 1 to switch to the target shooting angle and uses the target shooting angle to control the driving state of the target vehicle.

[0042] Figure 2 This is a flow chart of an embodiment of a vehicle assisted driving control method provided in an embodiment of the present application. The method may include the following steps:

[0043] 201: While the target vehicle is traveling, detecting vehicle position information of the target vehicle.

[0044] The target vehicle may include vehicle information identified by license plate number, vehicle model, etc. The vehicle information of different vehicles is different.

[0045] The vehicle assisted driving control method disclosed herein can be applied to an electronic device. The electronic device can receive video information, vehicle positioning information, and the like transmitted by a vehicle. Detecting the vehicle position information of the target vehicle while the target vehicle is in motion may include: receiving positioning information transmitted by the target vehicle while the target vehicle is in motion, and parsing the positioning information to obtain the vehicle position information of the target vehicle. The vehicle position information may be data recording the vehicle's position, and may include, for example, one or more of latitude and longitude data, the name of the area in which the vehicle is located, and the like.

[0046] Among them, the positioning information may include: positioning signals collected by a vehicle-mounted positioning device. The vehicle-mounted positioning device may include, for example, a GPS device, a Beidou positioning device, etc. The specific type of the vehicle's positioning information is not excessively limited in the embodiments of the present disclosure.

[0047] 202: Determine a target historical image that meets a quality selection condition based on the historical images collected at the vehicle location information.

[0048] In practical applications, cameras typically capture video and can extract and store image frames corresponding to each sampling time through sampling. When capturing video, a camera can set a timestamp on each video frame. By presetting the extraction frequency and step size, the corresponding image frames can be extracted and stored as historical images according to the timestamp. The timestamp referred to in this disclosure may include the time when the camera captured the image frame, not the time when the image frame was extracted.

[0049] The quality selection condition may refer to an image quality higher than a predetermined standard. Based on the historical images collected based on the vehicle location information, determining the target historical images that meet the quality selection condition may include: using the vehicle location information to query the historical images located within the collection range corresponding to the vehicle location information, and selecting the target historical images that meet the quality selection condition from the historical images. The collection range may refer to a collection area divided according to a certain shape with the vehicle location information as the center point, for example, with the center point as the center of the circle, a circular area is drawn with a preset radius, and the circular area is used as the collection range. Of course, the size of the collection range can be determined based on the vehicle's driving speed, etc. The faster the driving speed, the larger the collection range can be, and the slower the driving speed, the smaller the collection range can be. The specific size can be determined based on actual usage requirements. For example, the radius can be set to 1 meter, 2 meters, etc.

[0050] Optionally, the cameras may include a front-view camera located at the front of the vehicle and a rear-view camera located at the rear of the vehicle.

[0051] 203: Determine a first acquisition angle using a shooting angle corresponding to a camera that shoots the target historical image.

[0052] Historical images of a target can be captured using a camera. When capturing historical images of a target, the camera is at a specific shooting angle. This angle can be associated and stored with the historical images. For example, between 4:00 PM and 6:00 PM, the camera's shooting angle is 30 degrees from the horizontal plane. During this time period, an image is captured every minute, resulting in 120 historical images. These 120 historical images can be associated and stored with the shooting angle of 30 degrees from the horizontal plane. Each historical image can be associated with a corresponding shooting angle.

[0053] The first acquisition angle can be determined by the shooting angle corresponding to the camera that captured the target historical image. If the shooting effect of the target historical image meets the quality selection condition, it means that the image quality of the target historical image is high, and the shooting angle can be directly used as the first acquisition angle.

[0054] 204: Adjust the angle of the target camera according to the target image captured by the target camera of the target vehicle to obtain a second capturing angle corresponding to the target camera.

[0055] The target image may be a target image captured by a target camera at the vehicle position information. The target image may include one or more. More specifically, the target image may be an image captured by the target camera at the time when the vehicle position information is collected.

[0056] The target image may be an image captured in real time, and the angle of the target camera may be adjusted based on the target image captured in real time to obtain a second captured image of the target camera.

[0057] 205: Weighting the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera.

[0058] Optionally, the target shooting angle can be obtained by performing an angle-weighted calculation on the first acquisition angle and the second acquisition angle. The first acquisition angle and the second acquisition angle can be set in the same manner. For example, both can be the angle between the camera's shooting plane and the horizontal plane, or the angle between the camera's shooting plane and the direction of sunlight. The specific meaning of the acquisition angle can be set according to actual usage requirements.

[0059] 206: Control the shooting angle of the target camera to switch to the target shooting angle.

[0060] Optionally, a shooting angle control device can be set on the target camera. When the electronic device needs to control the shooting angle of the camera, it can generate a setting instruction for the shooting angle parameter and send the setting instruction to the control device. The setting instruction can instruct the control device to switch the target camera to the target shooting angle.

[0061] 207: Using the target shooting angle to control the driving state of the target vehicle.

[0062] The target vehicle's driving state may include any one or more of the target vehicle's driving speed, driving direction, and driving path. The target vehicle's driving state can be determined using a target shooting angle. Typically, the camera's shooting angle determines the camera's shooting range, and the size of the shooting range has a certain impact on the vehicle's driving speed. Therefore, the target shooting angle can be used to accurately control the vehicle's driving speed.

[0063] In an embodiment of the present application, during the driving process of the target vehicle, the vehicle position information of the target vehicle can be detected. Through the detection of the vehicle position information, the historical images collected at the vehicle position information can be obtained to determine the target historical images that meet the quality selection conditions from the historical images. The shooting angle of the camera corresponding to the target historical image can be used to determine the first shooting angle, so as to realize a method of obtaining the shooting angle by using the historical shooting effect. In addition, the angle of the target camera can be adjusted according to the target image collected by the target camera of the target vehicle to obtain the second acquisition angle corresponding to the target camera, so as to realize a method of obtaining the shooting angle by using the real-time shooting effect. The first acquisition angle and the second acquisition angle are weighted to obtain the target shooting angle of the target camera. The acquisition of the target shooting angle can adjust the shooting angle of the target camera and use the target shooting angle to control the driving state of the target vehicle, thereby realizing accurate control of the target vehicle during driving and improving the safety of the vehicle's assisted driving control.

[0064] In the process of collecting vehicle location information, time also has a certain impact on the camera's shooting effect. For example, before sunrise or after sunset, the camera is usually not affected by sunlight, but at noon, that is, 12:00 am, the camera will be greatly affected. Therefore, in order to obtain accurate historical images, more accurate angle acquisition is achieved. As an example, Figure 3 FIG. 1 is a flow chart of another embodiment of a vehicle assisted driving control method provided by an embodiment of the present application, which is similar to Figure 2 The difference of the method shown is that before executing step 202: determining a target historical image that meets the quality selection condition based on the historical images collected at the vehicle position information, the method may further include:

[0065] 301: Determine a detection time for detecting vehicle position information of a detected vehicle.

[0066] Step 202: determining a target historical image that meets a quality selection condition based on historical images collected at the vehicle location information may include:

[0067] 302: Query historical images collected at the vehicle location information and whose collection time matches the detection time; the historical images are collected by a camera of the vehicle using the vehicle location information.

[0068] Each historical image can be associated with an acquisition time. The method for obtaining the acquisition time can refer to the description in the above embodiment and will not be repeated here. The acquisition time matches the detection time, which means that the time difference between the acquisition time and the detection time is less than a preset time difference threshold. The time difference threshold can be set according to the actual error requirements. The smaller the time difference threshold, the smaller the matching error. The larger the time difference threshold, the larger the matching error. For example, when the time difference threshold is 0, it can be determined that the acquisition time and the detection time are equal, and a historical image with the same acquisition time and detection time can be obtained. The historical image can be associated with the acquisition time and the acquired location information. If the acquired location information is the same as the vehicle location information, it can be determined that the historical image was acquired at the vehicle location information.

[0069] 303: Determine a target historical image that meets a quality selection condition from the historical images.

[0070] Historical images can be captured by cameras corresponding to vehicles passing through the vehicle location information. When any vehicle passes through the vehicle location information, its vehicle location information and video can be simultaneously transmitted to the electronic device. When the electronic device captures and stores historical images, in addition to the time, it can also associate the historical image with the corresponding vehicle location information.

[0071] The vehicles for which vehicle location information is provided may include one or more vehicles. Video captured by a camera in any vehicle may be transmitted to an electronic device. Typically, a camera may directly transmit the captured video to an electronic device. Alternatively, a camera may transmit the captured video to an electronic device via an onboard device.

[0072] In an embodiment of the present application, historical images collected when the vehicle location information is collected and whose collection time matches the detection time can be queried to achieve the acquisition of historical images at the same location and time, so that the environmental information of the acquired historical images is the same as that of the images taken by the target camera, and the obtained target historical images are more accurate.

[0073] In some embodiments, determining a target historical image that meets a quality selection condition from the historical images includes:

[0074] Evaluate and process the image clarity of historical images to obtain quality evaluation scores of historical images;

[0075] According to the quality evaluation scores of the historical images, target historical images having quality evaluation scores higher than a score threshold corresponding to the quality selection condition are determined.

[0076] Evaluating the image clarity of the historical image to obtain a quality evaluation score for the historical image may include: evaluating the image clarity of the historical image using a quality evaluation algorithm to obtain a quality evaluation score for the historical image. The quality evaluation algorithm may include, for example, an image clarity evaluation algorithm, or any one of a Tenengrad gradient method, a Laplacian gradient method, and a variance method.

[0077] In the embodiment of the present application, after acquiring historical images, the image clarity of the historical images can be evaluated and processed to obtain a quality evaluation score for the historical images. Based on the quality evaluation score of the historical images, target historical images can be accurately screened. By selecting target historical images, accurate image selection can be achieved.

[0078] As an embodiment, step 203: determining the first acquisition angle using the shooting angle corresponding to the camera that shoots the target historical image includes:

[0079] The shooting angles corresponding to the cameras that shot the historical images of the target are averaged to obtain a first acquisition angle.

[0080] In practical applications, the target historical images may include multiple ones, and the cameras corresponding to different target historical images may be different, that is, the shooting angles corresponding to the multiple cameras that took the target historical images can be obtained, and the shooting angles corresponding to the multiple cameras can be averaged to obtain the first acquisition angle.

[0081] The first acquisition angle can be directly determined as an average angle obtained by calculating the average of the shooting angles corresponding to the multiple cameras.

[0082] In the embodiment of the present application, the shooting angles corresponding to the cameras that shot the historical images are averaged to obtain the first acquisition angle. The average calculation can comprehensively consider the shooting angles corresponding to multiple cameras to obtain an accurate first acquisition angle.

[0083] In order to accurately obtain the second acquisition angle, Figure 4 FIG. 2 is a flow chart of another embodiment of a vehicle assisted driving control method provided by an embodiment of the present application. The flow chart differs from the aforementioned embodiment in that step 204: adjusting the angle of the target camera according to the target image captured by the target camera of the target vehicle to obtain a second capture angle corresponding to the target camera may include:

[0084] 401: Determine a target image captured by a target camera of a target vehicle.

[0085] The target image can be collected in real time by a target camera of the target vehicle based on the vehicle position information.

[0086] 402: Performing area detection on the light spot area in the target image to obtain a proportion of the light spot area corresponding to the target image.

[0087] Optionally, performing regional detection on the light spot area in the target image to obtain the proportion of the light spot area corresponding to the target image may include: utilizing a light spot area detection algorithm to perform regional detection on the light spot area in the image to obtain the light spot area, calculating the ratio of the area of ​​the light spot area to the area of ​​the target image, and obtaining the proportion of the light spot area corresponding to the target image. The proportion of the light spot area can be used to determine the degree of influence on the target image captured by the target camera of the target vehicle. The higher the proportion of the light spot area, the more the target image captured by the target camera is affected by light, and the lower the proportion of the light spot area, the less the target image captured by the target camera is affected by light.

[0088] 403: Determine a second acquisition angle corresponding to the target camera according to the proportion of the light spot area.

[0089] The second acquisition angle is determined based on the image quality of the target image acquired in real time by the target camera of the target vehicle. The acquisition effect of the target camera can be directly and accurately evaluated based on the image quality, thereby achieving accurate acquisition of the second acquisition angle.

[0090] In embodiments of the present application, a target image captured by a target camera of a target vehicle can be determined. By performing regional detection on the light spot area in the target image, the proportion of the light spot area corresponding to the target image can be obtained. Based on the proportion of the light spot area, a second acquisition angle corresponding to the target camera can be determined. Calculating the light spot area allows for accurate capture of the specific shooting conditions of the target image, enabling accurate acquisition of the second acquisition angle of the target camera using the light spot area, thereby improving the efficiency of acquiring the second acquisition angle.

[0091] As an embodiment, step 403: determining the second acquisition angle corresponding to the target camera according to the proportion of the light spot area includes:

[0092] Get the initial angle of the target camera when capturing the target image;

[0093] Determine the adjustment direction and angle of the target camera based on the proportion of the light spot area;

[0094] The initial angle is adjusted using the adjustment direction and the adjustment node to obtain the second acquisition angle corresponding to the target camera.

[0095] The adjustment direction may include at least one of downward adjustment, upward adjustment, leftward adjustment, and rightward adjustment. Of course, in practical applications, the adjustment direction may also include a rotation angle.

[0096] The angle at which the target camera captures the target image can be an initial angle. That is, during vehicle travel, before the target camera is adjusted, the target camera's angle is the initial angle. The initial angle can include the angle between the camera's capture plane and the horizontal plane. The initial angle can also include the angle between the camera's capture plane and the light source when capturing the target image. Of course, the angle between the camera's capture plane and the horizontal plane, and the angle between the camera's capture screen and the light source when capturing the target image, can be converted into angles.

[0097] Determining the adjustment angle and direction corresponding to the target camera based on the proportion of the light spot area can include: if it is determined that the proportion of the light spot area is greater than a proportion threshold, determining that the adjustment direction corresponding to the target camera is downward adjustment, so that the angle between the target camera's acquisition plane and the light is reduced or the angle between the target camera's acquisition plane and the horizontal plane is increased. The angle between the camera's acquisition plane and the horizontal plane can refer to the contents described in the above embodiments and will not be repeated here. The adjustment angle is determined based on the proportion of the light spot area. Generally speaking, the proportion of the light spot area is proportional to the adjustment angle, that is, the larger the proportion of the light spot area, the larger the adjustment angle can be set, and the smaller the proportion of the light spot area, the smaller the adjustment angle can be set. For example, the proportion threshold can be set to 20%. If the proportion of the light spot area is greater than 20%, the adjustment direction corresponding to the target camera is determined to be downward adjustment. If the proportion threshold is 25%, the adjustment angle can be set to 3 degrees. If the proportion threshold is 35%, the adjustment angle can be set to 5 degrees. Left and right adjustment of the adjustment direction can also be determined by the light spot proportion, following the same principle as up and down adjustment.

[0098] In some embodiments, the difference between the proportion of the spot area and the proportion threshold can be calculated, the proportion difference can be associated with the adjustment angle, and the adjustment angle can be determined by the proportion difference. Specifically, a correspondence table of the proportion difference and the adjustment angle can be set, and the adjustment angle corresponding to the calculated proportion difference can be obtained by query. Of course, a machine learning model can also be trained, and the proportion of the historical spot area and the optimal angle corresponding to the proportion of the historical spot area are used as training data and input into the machine learning model to train the machine learning model to obtain a target model. When the latest spot area proportion is obtained, the spot area proportion can be input into the target model, and the target angle can be predicted by the target model. The target angle can be directly used as the second acquisition angle. The adjustment angle can be calculated by the target angle and the initial angle.

[0099] In an embodiment of the present application, the proportion of the spot area is used to determine the adjustment direction and adjustment angle corresponding to the target camera. The adjustment direction and adjustment node can be used to perform angle adjustment calculation on the initial angle to obtain the second acquisition angle of the target camera, thereby achieving accurate acquisition of the second acquisition angle.

[0100] As an embodiment, controlling the driving state of a target vehicle by using a target shooting angle includes:

[0101] Determine the maximum shooting distance of the target camera corresponding to the target shooting angle;

[0102] Determine the maximum speed of the target vehicle based on the maximum shooting distance;

[0103] Based on the maximum driving speed, the driving speed of the target vehicle is controlled.

[0104] After determining the target camera's target shooting angle, the target camera's shooting range can be determined based on the target shooting angle. Based on the shooting range, the maximum shooting distance can be determined. For example, the distance from the vehicle's position to the farthest shooting point can be determined to obtain the maximum shooting distance. The maximum shooting distance can be the maximum length that can be captured within the target camera's shooting range.

[0105] Determining the maximum speed of the target vehicle based on the maximum shooting distance may include determining a minimum braking time corresponding to the target vehicle's speed during travel, calculating a first ratio of the maximum shooting distance to the minimum braking time, and using the calculated first ratio as the target vehicle's maximum speed. Alternatively, the reaction time may be added to the minimum braking time to obtain a comprehensive time, and a second ratio of the maximum shooting distance to the comprehensive time may be calculated, with the calculated second ratio being used as the target vehicle's maximum speed.

[0106] Controlling the target vehicle's speed based on the maximum speed may include detecting the target vehicle's speed and, if the target vehicle's speed is greater than the maximum speed, adjusting the target vehicle's speed to a target speed less than the maximum speed. The target speed may be determined based on the road condition indicated by the target image. If the target vehicle's speed is less than the maximum speed and greater than a preset minimum speed, the vehicle's speed may not be adjusted. If the target vehicle's speed is less than the minimum speed, then if the road condition information indicates a clear, unobstructed state, the target vehicle's speed may be adjusted to a target speed greater than the minimum speed. The target speed may be determined based on the road condition information indicated by the target image. For example, the road condition information may include a traffic jam ahead of the target vehicle, a clear, unobstructed state ahead of the target vehicle, or a traffic situation ahead of the target vehicle but without congestion. In a traffic jam, the target speed is not adjusted even if the target vehicle's speed is less than the minimum speed.

[0107] In the embodiment of the present application, the maximum shooting distance corresponding to the target camera at the target shooting angle is determined, and the maximum speed of the target vehicle can be determined based on the maximum shooting distance, so that the target vehicle's speed can be controlled based on the maximum speed. Determining the maximum speed of the target vehicle based on the target shooting angle can achieve accurate speed control of the target vehicle and improve vehicle driving safety.

[0108] In actual application, if the weather is cloudy, the camera angle may not be adjusted. Therefore, as an embodiment, Figure 2 The difference of the embodiment shown is that, in step 201, after detecting the vehicle position information of the target vehicle during the driving process, the method may further include:

[0109] Determine the vehicle driving information corresponding to the vehicle location information of the target vehicle; the vehicle driving information is used to record the driving mode, driving status and driving environment of the target vehicle;

[0110] Determine whether the target camera of the target vehicle performs angle adjustment according to the vehicle driving information;

[0111] If it is determined that the target camera performs angle adjustment, return to the historical image collected based on the vehicle position information, and determine that the target historical image meets the quality selection condition to continue execution.

[0112] The target vehicle's driving status may include driving mode, speed, and direction. The driving environment may include information such as road conditions, weather conditions, and sunlight intensity. Weather conditions can be obtained using third-party weather software. Sunlight intensity can be collected in real time using sensors.

[0113] Determining whether a target camera of a target vehicle needs to perform angle adjustment according to vehicle driving information may include: determining whether a target camera of a target vehicle needs to perform angle adjustment according to a driving state and a driving environment in the vehicle driving information.

[0114] In an embodiment of the present application, the vehicle driving information corresponding to the vehicle position information of the target vehicle is determined, and the vehicle driving information can be used to record the driving status and driving environment of the target vehicle. By accurately judging whether the target vehicle needs to adjust its angle based on the vehicle driving information, if it is determined that the target camera needs to perform angle adjustment, it can return to the historical image collected based on the vehicle position information and determine the target image that meets the quality selection conditions to continue execution. By judging whether the target camera needs to adjust its angle, it is possible to accurately control the target camera of the target vehicle and improve the control efficiency of the target camera.

[0115] As an embodiment, judging whether the target camera of the target vehicle performs angle adjustment based on the vehicle driving information may include:

[0116] According to the driving mode in the vehicle driving information, detect whether the target vehicle is in the assisted driving state or the manual driving state;

[0117] If it is determined that the target vehicle is in the assisted driving state, it is determined that the target camera of the target vehicle needs to perform angle adjustment;

[0118] If it is determined that the target vehicle is in a manual driving state, it is determined that the target camera of the target vehicle does not need to perform angle adjustment.

[0119] Optionally, a driving mode selection may be configured. When the target vehicle detects that a user is seated in the driver's cabin, a driving state selection page may be displayed, and the target driving state selected by the user on the driving state selection page may be detected. The target driving state may include an assisted driving state and a manual driving state. The electronic device may detect the target driving state of the target vehicle to determine whether the target vehicle is in an assisted driving state or a manual driving state.

[0120] In the disclosed embodiment, it is possible to detect whether a target vehicle is in an assisted driving state or a manual driving state based on the driving mode in the vehicle driving information. When the target vehicle is in the assisted driving state, it can be determined that the target camera of the target vehicle needs to perform angle adjustment. When the target vehicle is in the manual driving state, it can be determined that the target camera of the target vehicle does not need to perform angle adjustment. By determining the assisted driving state and the manual driving state, the specific state of the target vehicle can be confirmed, so that the angle adjustment control of the target camera can be achieved according to different driving states, thereby improving the adjustment control efficiency of the target camera.

[0121] In a possible design, after determining that the target camera of the target vehicle needs to perform angle adjustment, the method further includes:

[0122] Determine whether a target camera of a target vehicle is in a backlight state according to the driving state and driving environment in the vehicle driving information;

[0123] If it is determined that the target vehicle is in a backlight state, whether angle adjustment is required is determined based on the angle between the optical axis of the target camera of the target vehicle and the light;

[0124] If it is determined that the target vehicle is not in a backlight state, then the target camera of the target vehicle does not need to perform angle adjustment.

[0125] After determining that angle adjustment is necessary based on the driving state, the specific driving conditions of the vehicle can be further confirmed based on driving state information and environmental information. Typically, the vehicle's driving state and driving environment can be used to detect the vehicle's lighting conditions. For example, the angle between the target camera's acquisition plane and the light can be determined by combining driving direction and weather information to obtain the corresponding detection results.

[0126] In an embodiment of the present application, when adjusting the angle of the target camera of a target vehicle, the driving environment can be detected to determine in advance whether adjustment is required. If the driving environment is determined to be in a backlit state, the need for angle adjustment can be determined based on the light axis and light angle of the target camera, thereby achieving more efficient and precise judgment of angle adjustment. In addition, if it is determined that the target vehicle is not in a backlit state, it can be directly determined that the target camera of the target vehicle does not need to perform angle adjustment, thereby improving the efficiency and accuracy of angle adjustment.

[0127] As a possible implementation method, whether angle adjustment needs to be performed is determined based on the angle between the optical axis of the target camera of the target vehicle and the light, including:

[0128] Determine the angle between the optical axis of the target camera of the target vehicle and the sunlight;

[0129] If the light angle is greater than the preset angle threshold, it is determined that no angle adjustment is required;

[0130] If the light angle is greater than or equal to zero and less than a preset angle threshold, it is determined that angle adjustment needs to be performed.

[0131] The optical axis of the target camera can refer to the perpendicular line of the acquisition plane of the target camera. Whether the camera needs to perform angle adjustment can be judged by the light angle between the optical axis and the sunlight. The light angle can be used to determine the reflection of sunlight on the acquisition plane of the target camera. When the light angle ranges from 0 degrees to 90 degrees, it can be determined that there will be reflection on the acquisition plane of the camera. The smaller the light angle, the more severe the reflection. When the light angle is 0 degrees, the sunlight directly shines at 90 degrees to the acquisition plane of the target camera. At this time, the image captured by the target camera is blank, that is, the entire image is a light spot area. As the angle increases, the sunlight on the target camera's captured image decreases, and the generated light spot area becomes smaller and smaller. When the light angle is 90 degrees, the sunlight is parallel to the acquisition plane of the target camera. At this time, there is no light spot in the target image captured by the target camera. Among them, the angle threshold can be set according to actual usage requirements. For example, the angle threshold can be set to 45 degrees. When the angle is greater than 45 degrees, it can be determined that no angle adjustment is required. When the angle is less than 45 degrees, angle adjustment is required.

[0132] In an embodiment of the present application, after determining the light angle between the light axis of the target camera of the target vehicle and the sunlight, accurate adjustment judgment can be made based on whether the light angle is greater than a preset angle threshold, thereby improving the accuracy of angle adjustment.

[0133] In some embodiments, the method may further include:

[0134] If the shooting angle of the target camera is controlled to switch to the target shooting angle, a fault prompt message indicating that the adjustment of the target camera has failed is output.

[0135] Optionally, controlling the shooting angle of the target camera to switch to the target shooting angle may include: using the target shooting angle system to control the micromotor to adjust the posture of the target camera to obtain the target camera adjusted to the target shooting angle.

[0136] The fault prompt information can be used to indicate that the angle adjustment of the target camera has failed, prompting the user to pay attention to driving safety. The fault prompt information can be in the form of any one or more of the following information types: warning lights, voice, video, short message, etc., to achieve effective prompting.

[0137] In an embodiment of the present application, a failure in adjusting the target camera can be prompted by means of a fault prompt message, and timely and effective warnings can be given to the user of the target vehicle through the prompt, thereby improving the auxiliary control efficiency and accuracy of the vehicle.

[0138] like Figure 5FIG. 5 is a flow chart of an embodiment of a vehicle assisted driving control device provided by an embodiment of the present disclosure. The vehicle assisted driving control device 500 may include the following units:

[0139] Position detection unit 501: used to detect the vehicle position information of the target vehicle during the target vehicle's driving process;

[0140] Image selection unit 502: used to determine a target historical image that meets a quality selection condition based on the historical images collected at the vehicle position information.

[0141] The first determining unit 503 is configured to determine a first acquisition angle by using a shooting angle corresponding to a camera that shoots the target historical image.

[0142] The second determining unit 504 is configured to adjust the angle of the target camera according to the target image captured by the target camera of the target vehicle, so as to obtain a second capturing angle corresponding to the target camera.

[0143] Angle weighting unit 505: used to weight the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera.

[0144] Angle control unit 506: used to control the shooting angle of the target camera to switch to the target shooting angle.

[0145] State control unit 507: used to control the driving state of the target vehicle using the target shooting angle.

[0146] As an embodiment, it also includes:

[0147] a vehicle detection unit, configured to determine a detection time for detecting vehicle position information of a detected vehicle;

[0148] An image selection unit, comprising:

[0149] The image determination module is used to query historical images collected at the vehicle location information and whose collection time matches the detection time; the historical images are collected by the camera of the vehicle through the vehicle location information.

[0150] The image selection module is used to determine a target historical image that meets the quality selection condition from the historical images.

[0151] In some embodiments, the image selection module includes:

[0152] The image evaluation submodule is used to evaluate the image clarity of historical images and obtain quality evaluation scores of historical images.

[0153] The image determination submodule is used to determine, based on the quality evaluation scores of the historical images, a target historical image whose quality evaluation score is higher than a score threshold corresponding to the quality selection condition.

[0154] In one possible design, the first determining unit includes:

[0155] The first determining module is used to perform mean calculation on the shooting angles corresponding to the cameras that shoot the historical images of the target to obtain a first acquisition angle.

[0156] As an embodiment, the second determining unit includes:

[0157] An image determination module, used to determine a target image captured by a target camera of a target vehicle;

[0158] The area detection module is used to perform area detection on the light spot area in the target image and obtain the proportion of the light spot area corresponding to the target image.

[0159] The angle determination module is used to determine the second acquisition angle corresponding to the target camera according to the proportion of the light spot area.

[0160] In some embodiments, the angle determination module includes:

[0161] The initial acquisition submodule is used to obtain the initial angle when the target camera captures the target image;

[0162] The first determination submodule is used to determine the adjustment direction and adjustment angle corresponding to the target camera according to the proportion of the light spot area;

[0163] The adjustment calculation submodule is used to perform angle adjustment calculation on the initial angle using the adjustment direction and the adjustment node to obtain a second acquisition angle corresponding to the target camera.

[0164] In some embodiments, a state control unit includes:

[0165] A distance determination module is used to determine the maximum shooting distance of the target camera corresponding to the target shooting angle;

[0166] A speed determination module is used to determine the maximum speed of the target vehicle according to the maximum shooting distance;

[0167] The speed control module is used to control the driving speed of the target vehicle based on the maximum driving speed.

[0168] As yet another embodiment, the device further comprises:

[0169] A driving determination unit is used to determine the vehicle driving information corresponding to the vehicle position information of the target vehicle; the vehicle driving information is used to record the driving state and driving environment of the target vehicle;

[0170] A driving judgment unit, configured to judge whether a target camera of a target vehicle performs angle adjustment based on vehicle driving information;

[0171] The adjustment execution unit is used to return to the historical image collected based on the vehicle position information if it is determined that the target camera performs angle adjustment, and determine the target historical image that meets the quality selection condition to continue execution.

[0172] In some embodiments, the driving judgment unit includes:

[0173] A state detection module is used to detect whether the target vehicle is in an assisted driving state or a manual driving state based on the driving mode in the vehicle driving information;

[0174] A first state module is configured to determine that a target camera of the target vehicle needs to perform angle adjustment if it is determined that the target vehicle is in an assisted driving state;

[0175] The second state module is configured to determine that the target camera of the target vehicle does not need to perform angle adjustment if it is determined that the target vehicle is in a manual driving state.

[0176] In one possible design, the driving judgment unit may further include:

[0177] A backlight detection module is used to determine whether the target camera of the target vehicle is in a backlight state based on the driving state and driving environment in the vehicle driving information;

[0178] A first processing module is configured to determine whether angle adjustment is required based on an angle between an optical axis of a target camera of the target vehicle and the light if the target vehicle is determined to be in a backlit state;

[0179] The second processing module is configured to determine that the target camera of the target vehicle does not need to perform angle adjustment if it is determined that the target vehicle is not in a backlit state.

[0180] In some embodiments, the first processing module includes:

[0181] An angle determination submodule, used to determine the angle between the optical axis of the target camera of the target vehicle and the sunlight;

[0182] A first processing submodule, configured to determine that angle adjustment needs to be performed if the light angle is greater than a preset angle threshold;

[0183] The second processing submodule is configured to determine that no angle adjustment is required if the light angle is greater than zero and less than a preset angle threshold.

[0184] In some embodiments, the apparatus further comprises:

[0185] The fault prompt unit is used to output a fault prompt message indicating that the target camera adjustment has failed if the shooting angle of the target camera fails to be switched to the target shooting angle.

[0186] The electronic devices described above can be either wireless terminals or wired terminals. A wireless terminal can be a device that provides voice and / or other service data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. A wireless terminal can communicate with one or more core network devices via a Radio Access Network (RAN). A wireless terminal can be a mobile terminal, such as a mobile phone (also known as a "cellular" phone) or a computer with a mobile terminal. For example, a wireless terminal can be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For another example, a wireless terminal can be a Personal Communication Service (PCS) phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), or other device. A wireless terminal may also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, access terminal, user terminal, user agent, or user device or user equipment, without limitation herein. Optionally, the electronic device may also be a smartwatch, tablet computer, or other device.

[0187] Figure 6 This is a block diagram of an electronic device according to an exemplary embodiment. The device may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0188] Apparatus 600 may include one or more of the following components: a processing component 602 , a memory 604 , a power component 606 , a multimedia component 608 , an audio component 610 , an input / output (I / O) interface 612 , a sensor component 614 , and a communication component 616 .

[0189] The processing component 602 generally controls the overall operation of the device 600, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 602 may include one or more modules to facilitate interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate interaction between the multimedia component 608 and the processing component 602.

[0190] The memory 604 is configured to store various types of data to support operations on the device 600. Examples of such data include instructions for any application or method operating on the device 600, contact data, phone book data, messages, pictures, videos, etc. The memory 604 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0191] The power supply component 606 provides power to the various components of the device 600. The power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device 600.

[0192] The multimedia component 608 includes a screen that provides an output interface between the device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. When the device 600 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0193] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC), which is configured to receive external audio signals when the device 600 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0194] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0195] The sensor assembly 614 includes one or more sensors for providing various aspects of the status assessment of the device 600. For example, the sensor assembly 614 can detect the open / closed state of the device 600, the relative positioning of components, such as the display and keypad of the device 600. The sensor assembly 614 can also detect changes in the position of the device 600 or a component of the device 600, the presence or absence of user contact with the device 600, the orientation or acceleration / deceleration of the device 600, and temperature changes of the device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 614 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0196] The communication component 616 is configured to facilitate wired or wireless communication between the device 600 and other devices. The device 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0197] In an exemplary embodiment, the apparatus 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0198] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, which can be executed by the processor 620 of the apparatus 600 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0199] A non-temporary computer-readable storage medium, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute the above-mentioned split-screen processing method of the electronic device.

[0200] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0201] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle assisted driving control method, characterized in that: include: During the driving process of the target vehicle, detecting the vehicle position information of the target vehicle; Determining a target historical image that meets a quality selection condition based on the historical images collected at the vehicle location information; Determine a first acquisition angle using a shooting angle corresponding to a camera that shoots the target historical image; According to the target image captured by the target camera of the target vehicle, the target camera is adjusted in angle to obtain a second capture angle corresponding to the target camera; The second acquisition angle is determined based on a proportion of a light spot area in the target image, wherein the proportion of the light spot area in the target image represents an influence of light on the target image acquired by the target camera; Weighting the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera; Controlling the shooting angle of the target camera to switch to the target shooting angle; The target shooting angle is utilized to control the driving state of the target vehicle.

2. The method according to claim 1, characterized in that Also includes: determining a detection time for detecting vehicle position information of the vehicle; The determining of a target historical image that meets a quality selection condition based on the historical image collected at the vehicle location information includes: Querying historical images collected at the vehicle location information and whose collection time matches the detection time; the historical images are collected by a camera of the vehicle passing through the vehicle location information; A target historical image that meets a quality selection condition is determined from the historical images.

3. The method according to claim 2, characterized in that Determining a target historical image that meets a quality selection condition from the historical images includes: Evaluating the image clarity of the historical image to obtain a quality evaluation score of the historical image; According to the quality evaluation scores of the historical images, a target historical image having a quality evaluation score higher than a score threshold corresponding to the quality selection condition is determined.

4. The method according to claim 1, wherein The determining of the first acquisition angle by using a shooting angle corresponding to a camera that shoots the target historical image includes: The first acquisition angle is obtained by performing mean calculation on the shooting angles corresponding to the camera that shot the target historical image.

5. The method according to claim 1, wherein The step of adjusting the angle of the target camera according to the target image captured by the target camera of the target vehicle to obtain a second capturing angle corresponding to the target camera includes: Determine a target image captured by a target camera of the target vehicle; Performing area detection on the light spot area in the target image to obtain a proportion of the light spot area corresponding to the target image; According to the proportion of the light spot area, a second acquisition angle corresponding to the target camera is determined.

6. The method according to claim 5, characterized in that The determining, according to the proportion of the light spot area, a second acquisition angle corresponding to the target camera includes: Obtaining the initial angle of the target camera when capturing the target image; Determining the adjustment direction and adjustment angle corresponding to the target camera according to the proportion of the light spot area; An angle adjustment calculation is performed on the initial angle using the adjustment direction and the adjustment angle to obtain a second acquisition angle corresponding to the target camera.

7. The method according to claim 1, characterized in that The controlling the driving state of the target vehicle by utilizing the target shooting angle includes: Determine the maximum shooting distance of the target camera corresponding to the target shooting angle; Determining the maximum speed of the target vehicle according to the maximum shooting distance; Based on the maximum traveling speed, the traveling speed of the target vehicle is controlled.

8. The method according to claim 1, characterized in that After detecting the vehicle position information of the target vehicle during the driving process of the target vehicle, the method further includes: Determining vehicle driving information of the target vehicle corresponding to the vehicle position information; the vehicle driving information is used to record the driving mode, driving state and driving environment of the target vehicle; determining, based on the vehicle driving information, whether the target camera of the target vehicle performs angle adjustment; If it is determined that the target camera performs angle adjustment, return to the historical image collected based on the vehicle position information, and determine the target historical image that meets the quality selection condition to continue execution.

9. The method according to claim 8, characterized in that The determining, based on the vehicle driving information, whether the target camera of the target vehicle performs angle adjustment includes: detecting whether the target vehicle is in an assisted driving state or a manual driving state according to the driving mode in the vehicle driving information; If it is determined that the target vehicle is in an assisted driving state, determining that the target camera of the target vehicle needs to perform angle adjustment; If it is determined that the target vehicle is in a manual driving state, it is determined that the target camera of the target vehicle does not need to perform angle adjustment.

10. The method according to claim 9, characterized in that Also includes: determining, based on the driving state and driving environment in the vehicle driving information, whether the target camera of the target vehicle is in a backlight state; If it is determined that the target vehicle is in a backlight state, determining whether angle adjustment is required based on the angle between the optical axis of the target camera of the target vehicle and the light; If it is determined that the target vehicle is not in a backlit state, it is determined that the target camera of the target vehicle does not need to perform angle adjustment.

11. The method according to claim 10, characterized in that The determining whether angle adjustment needs to be performed based on an angle between an optical axis of the target camera of the target vehicle and the light includes: Determining the angle between the optical axis of the target camera of the target vehicle and sunlight; If the light angle is greater than a preset angle threshold, it is determined that no angle adjustment is required; If the light angle is greater than or equal to zero and less than the preset angle threshold, it is determined that angle adjustment needs to be performed.

12. The method according to claim 1, characterized in that Also includes: If the control of switching the shooting angle of the target camera to the target shooting angle fails, a fault prompt message indicating that the adjustment of the target camera has failed is output.

13. A vehicle assisted driving control device, characterized in that: include: A position detection unit, used to detect vehicle position information of the target vehicle while the target vehicle is traveling; An image selection unit, configured to determine a target historical image that meets a quality selection condition based on the historical images collected at the vehicle position information; A first determining unit is configured to determine a first acquisition angle by using a shooting angle corresponding to a camera that shoots the target historical image; A second determining unit is configured to adjust the angle of the target camera according to the target image captured by the target camera of the target vehicle to obtain a second capturing angle corresponding to the target camera; The second acquisition angle is determined based on a proportion of a light spot area in the target image, wherein the proportion of the light spot area in the target image represents an influence of light on the target image acquired by the target camera; an angle weighting unit, configured to weight the first acquisition angle and the second acquisition angle to obtain a target shooting angle corresponding to the target camera; An angle control unit, used to control the shooting angle of the target camera to switch to the target shooting angle; A state control unit is used to control the driving state of the target vehicle using the target shooting angle.

14. An electronic device comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the vehicle assisted driving control method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle assisted driving control method according to any one of claims 1 to 12.

16. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle assisted driving control method according to any one of claims 1 to 12 is implemented.

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