A synchronous exposure processing method, device, and storage medium

Abstract

The present application discloses a synchronous exposure processing method, device, and storage medium, which relate to the fields of embedded computer video processing technology and autonomous driving technology. The method can solve the problem of frame loss when a multi-camera system is capturing images, thereby achieving synchronous exposure. The method includes: determining a first duration of a target image sensor; the first duration is the time required for the target image sensor to generate and transmit a frame of image; the first duration is less than a signal cycle of an exposure trigger signal received by the target image sensor; determining a minimum pixel clock frequency of the target image sensor based on at least the first duration; determining a target pixel clock frequency of the target image sensor based on the minimum pixel clock frequency; the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency; and controlling the target image sensor to perform an exposure operation based on the target pixel clock frequency, so that multiple image sensors of the multi-camera system are exposed synchronously.

Description

Technical Field

[0001] The present application relates to the fields of embedded computer video processing technology and autonomous driving technology, and in particular to a synchronous exposure processing method, device, and storage medium. Background Art

[0002] Multi-camera systems are based on computer vision principles and combine multiple cameras, light sources, and storage devices. They are commonly used in motion capture and multi-viewpoint video. For example, motion capture is a computer vision-based technology that uses multiple cameras to monitor and track target features from different angles.

[0003] However, this also requires that the multiple image sensors corresponding to the multiple cameras involved in the shooting be exposed and aligned when capturing each frame of the image. Otherwise, the motion trajectory of the marker points obtained by the multiple cameras will be different from the actual motion trajectory, or even distorted.

[0004] In related technologies, the method for synchronous exposure of multiple cameras is usually to use a synchronization signal to trigger the multiple image sensors corresponding to the multiple cameras, and transmit the synchronization trigger signal to each image sensor via wired or wireless means. However, in practice, it is found that due to external environmental factors such as crystal oscillator offset, clock error, network delay, temperature, humidity, etc., multiple image sensors will not be completely synchronized when capturing images, and even frame loss may occur. Summary of the Invention

[0005] The present application provides a synchronous exposure processing method, device and storage medium, which can solve the frame loss phenomenon that occurs when a multi-camera system captures images and achieve synchronous exposure.

[0006] In a first aspect, the present application provides a synchronous exposure processing method, which is applied to a multi-camera system; the multi-camera system includes multiple image sensors; the multiple image sensors include a target image sensor; the method includes: determining a first duration of the target image sensor; the first duration is the time required for the target image sensor to generate and transmit a frame of image; the first duration is less than a signal cycle of an exposure trigger signal received by the target image sensor; determining a minimum pixel clock frequency of the target image sensor based on at least the first duration; determining a target pixel clock frequency of the target image sensor based on the minimum pixel clock frequency; the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency; based on the target pixel clock frequency, controlling the target image sensor to perform an exposure operation, so that multiple image sensors of the multi-camera system are exposed synchronously.

[0007] It can be understood that the method provided in the present application determines the first time duration required for multiple image sensors to generate and transmit a frame of image (the first time duration is less than one signal period of the exposure trigger signal received by the multiple image sensors); then, based on the first time duration of the multiple image sensors (the first time duration of the multiple image sensors may be the same or different), respectively determine the minimum pixel clock frequency of the multiple image sensors; then, based on the minimum pixel clock frequency of the multiple image sensors, respectively determine the target pixel clock frequency of the multiple image sensors (the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency); finally, the multiple image sensors are caused to perform exposure operations based on the target pixel clock frequency, thereby achieving synchronous exposure of the multiple image sensors.

[0008] Since the first time length of multiple image sensors determined based on the method provided in the present application must be less than one signal cycle of the exposure trigger signal received by the multiple image sensors, therefore, if the multiple image sensors perform the exposure operation based on the minimum pixel clock frequency (or target pixel clock frequency) determined by the first time length, the current exposure operation can be completed before the arrival of the next signal cycle of the exposure trigger signal. In this way, when the next signal cycle of the exposure trigger signal arrives, the multiple image sensors can read it at the same time, thereby achieving synchronous exposure, effectively solving the problem of frame loss caused by asynchronous exposure time.

[0009] In one possible implementation, determining the first duration of the target image sensor includes: adjusting a current frame rate of the target image sensor to obtain a target frame rate of the target image sensor; and determining the first duration of the target image sensor based on the target frame rate of the target image sensor, so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

[0010] In another possible implementation, the multi-camera system further includes: a control device configured to send an exposure trigger signal to the plurality of image sensors; and adjusting the current frame rate of the target image sensor to obtain a target frame rate of the target image sensor includes: increasing the current frame rate of the target image sensor based on a first error value and a second error value to obtain the target frame rate of the target image sensor; the first error value being a minimum value among error values of a clock source of the target image sensor; and the second error value being a maximum value among error values of a clock source of the control device.

[0011] In another possible implementation, the target frame rate of the target image sensor satisfies the following relationship:

[0012] A'=1 / [A / (1-OF_S)]

[0013] Where, A’ represents the target frame rate of the target image sensor, A represents the current frame rate of the target image sensor, 0 < OF_S < 1, and OF_S is determined according to the first error value and the second error value.

[0014] In another possible implementation, the above-mentioned determination of the first duration of the target image sensor includes: adjusting the initial resolution of the exposure image to obtain the target resolution of the exposure image; the exposure image is an image obtained by the target image sensor performing an exposure operation; the target resolution is the resolution of the exposure image during the transmission of the exposure image by the target image sensor; based on the target resolution of the exposure image, determine the first duration of the target image sensor so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

[0015] In another possible implementation, the above-mentioned exposure image includes: a target area; the target area is the black level area in the exposure image; the black level area is a set of pixel points that are completely unexposed; the above-mentioned adjustment of the initial resolution of the exposure image to obtain the target resolution of the exposure image includes: reducing the resolution of the target area in the exposure image to obtain the target resolution of the exposure image.

[0016] In another possible implementation, the above method further includes: obtaining the resolution and exposure duration of the target image sensor; the above-mentioned determination of the minimum pixel clock frequency of the target image sensor at least according to the first duration includes: determining the minimum pixel clock frequency of the target image sensor according to the resolution, exposure duration and first duration of the target image sensor.

[0017] In another possible implementation, the minimum pixel clock frequency of the above-mentioned target image sensor satisfies the following relationship:

[0018] PCLK ≥ H·(V + a + x) / Tall_u

[0019] Where, PCLK represents the minimum pixel clock frequency, H represents the number of rows of the resolution of the target image sensor, V represents the number of columns of the resolution of the target image sensor, x represents the exposure duration, Tall_u represents the first duration, a is a constant, and a is greater than or equal to 0.

[0020] In another possible implementation, the above-mentioned control of the target image sensor to perform an exposure operation based on the target pixel clock frequency includes: adjusting the current pixel clock frequency of the target image sensor to the target pixel clock frequency; after adjustment, controlling the target image sensor to perform an exposure operation according to the received exposure trigger signal.

[0021] Second aspect, the present application provides a synchronous exposure processing device, which is applied to a multi-camera system; the multi-camera system includes multiple image sensors; the multiple image sensors include a target image sensor; the device includes: a determination module, configured to determine a first duration of the target image sensor; the first duration is the time required for the target image sensor to generate and transmit a frame of image; the first duration is less than a signal period of the exposure trigger signal received by the target image sensor; at least based on the first duration, determine the minimum pixel clock frequency of the target image sensor; according to the minimum pixel clock frequency, determine the target pixel clock frequency of the target image sensor; the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency; an exposure module, configured to control the target image sensor to perform an exposure operation based on the target pixel clock frequency, so that the multiple image sensors of the multi-camera system are synchronously exposed.

[0022] In a possible implementation manner, the above device further includes: an adjustment module, configured to adjust the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor; the determination module is specifically configured to determine the first duration of the target image sensor based on the target frame rate of the target image sensor, so that the first duration of the target image sensor is less than a signal period of the exposure trigger signal.

[0023] In another possible implementation manner, the above multi-camera system further includes: a control device, configured to send an exposure trigger signal to the multiple image sensors; the above adjustment module is specifically configured to increase the current frame rate of the target image sensor according to a first error value and a second error value to obtain the target frame rate of the target image sensor; the first error value is the minimum value of the error values of the clock source of the target image sensor; the second error value is the maximum value of the error values of the clock source of the control device. <COUNTER>In another possible implementation manner, the target frame rate of the above target image sensor satisfies the following relationship:

[0025] A’ = 1 / [A / (1 - b)]

[0026] Where, A’ represents the target frame rate of the target image sensor, A represents the current frame rate of the target image sensor, 0 < b < 1, and b is determined according to the first error value and the second error value.

[0027] In another possible implementation manner, the above adjustment module is further configured to adjust the initial resolution of the exposure image to obtain the target resolution of the exposure image; the exposure image is an image obtained by the target image sensor by performing an exposure operation; the target resolution is the resolution of the exposure image during the process of the target image sensor transmitting the exposure image; the determination module is specifically configured to determine the first duration of the target image sensor based on the target resolution of the exposure image, so that the first duration of the target image sensor is less than a signal period of the exposure trigger signal.

[0028] In another possible implementation, the above-mentioned exposure image includes: a target area; the target area is a black level area in the exposure image; the black level area is a collection of completely unexposed pixels; the above-mentioned adjustment module is specifically used to reduce the resolution of the target area in the exposure image to obtain the target resolution of the exposure image.

[0029] In another possible implementation, the above-mentioned device also includes: an acquisition module, which is used to obtain the resolution and exposure time of the target image sensor; and a determination module, which is specifically used to determine the minimum pixel clock frequency of the target image sensor based on the resolution, exposure time and first time of the target image sensor.

[0030] In another possible implementation, the minimum pixel clock frequency of the target image sensor satisfies the following relationship:

[0031] PCLK≥H·(V+a+x) / Tall_u

[0032] Wherein, PCLK represents the minimum pixel clock frequency, H represents the number of rows of the resolution of the target image sensor, V represents the number of columns of the resolution of the target image sensor, x represents the exposure time, Tall_u represents the first time, and a is a constant, and a is greater than or equal to 0.

[0033] In another possible implementation, the exposure module is specifically configured to adjust the current pixel clock frequency of the target image sensor to the target pixel clock frequency; after the adjustment, the exposure module controls the target image sensor to perform an exposure operation according to the received exposure trigger signal.

[0034] In a third aspect, the present application provides a synchronous exposure processing device, comprising: one or more processors; one or more memories; wherein the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the synchronous exposure processing device executes any one of the synchronous exposure processing methods provided in the first aspect above.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are run on a computer, the computer executes any one of the synchronous exposure processing methods provided in the first aspect above.

[0036] The descriptions of the second to fourth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second to fourth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the structure of a multi-camera system provided in an embodiment of the present application Figure 1 ;

[0038] Figure 2 A schematic diagram of an exposure trigger signal provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the structure of a multi-camera system provided in an embodiment of the present application Figure 2 ;

[0040] Figure 4 A logical diagram of an image sensor performing an exposure operation provided by an embodiment of the present application;

[0041] Figure 5 The timing corresponding to the exposure operation performed by a multi-image sensor provided in an embodiment of the present application Figure 1 ;

[0042] Figure 6 The timing corresponding to the exposure operation performed by a multi-image sensor provided in an embodiment of the present application Figure 2 ;

[0043] Figure 7 A process of a synchronous exposure processing method provided in an embodiment of the present application Figure 1 ;

[0044] Figure 8 The timing corresponding to the exposure operation performed by a multi-image sensor provided in an embodiment of the present application Figure 3 ;

[0045] Figure 9 A process of a synchronous exposure processing method provided in an embodiment of the present application Figure 2 ;

[0046] Figure 10 A schematic diagram of an application scenario of a synchronous exposure processing method provided in an embodiment of the present application;

[0047] Figure 11 A schematic diagram of the structure of a synchronous exposure processing device provided in an embodiment of the present application Figure 1 ;

[0048] Figure 12 A schematic diagram of the structure of a synchronous exposure processing device provided in an embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0049] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0050] The terms "first" and "second" and the like in the specification and drawings of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0051] Furthermore, the terms "including," "having," and any variations thereof, as used in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0052] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0053] In the description of the present application, unless otherwise specified, “plurality” means two or more.

[0054] As mentioned in the background, multi-camera systems are based on computer vision principles and combine multiple cameras, light sources, and storage devices. They are commonly used in motion capture and multi-viewpoint video. For example, motion capture is a computer vision-based technology that uses multiple cameras to monitor and track target features from different angles.

[0055] However, this also requires that the exposure of the multiple cameras involved in the shooting be aligned when capturing each frame of the image. Otherwise, the motion trajectory of the marker points obtained by the multiple cameras will be different from the actual motion trajectory, or even distorted.

[0056] In related technologies, the method for synchronized exposure of multiple cameras is usually to trigger multiple cameras with a synchronization signal, and transmit the synchronization trigger signal to each camera via wired or wireless means. However, in practice, it is found that due to external environmental factors such as crystal oscillator offset, clock error, network delay, temperature, humidity, etc., multiple cameras may not be completely synchronized when capturing images, and even frame loss may occur.

[0057] In response to the above technical problems, an embodiment of the present application provides a synchronous exposure processing method, the idea of which is: by separately determining the first time length required for multiple image sensors to generate and transmit a frame of image (the first time length is less than a signal period of the exposure trigger signal received by the multiple image sensors); then, according to the first time length of the multiple image sensors (the first time lengths of the multiple image sensors may be the same or different), respectively determine the minimum pixel clock frequency of the multiple image sensors; then, according to the minimum pixel clock frequency of the multiple image sensors, respectively determine the target pixel clock frequency of the multiple image sensors (the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency); finally, enable the multiple image sensors to perform exposure operations based on the target pixel clock frequency, so that the multiple image sensors can achieve synchronous exposure.

[0058] Since the first time length of multiple image sensors determined based on the method provided in the present application must be less than one signal cycle of the exposure trigger signal received by the multiple image sensors, therefore, if the multiple image sensors perform the exposure operation based on the minimum pixel clock frequency (or target pixel clock frequency) determined by the first time length, the current exposure operation can be completed before the arrival of the next signal cycle of the exposure trigger signal. In this way, when the next signal cycle of the exposure trigger signal arrives, the multiple image sensors can read it at the same time, thereby achieving synchronous exposure, effectively solving the problem of frame loss caused by asynchronous exposure time.

[0059] The embodiments provided in this application are described in detail below with reference to the accompanying drawings.

[0060] Please refer to Figure 1 , which shows a schematic diagram of a multi-camera system involved in a synchronous exposure processing method provided in an embodiment of the present application. Figure 1 As shown, the multi-camera system 100 includes a control device 110 and a plurality of cameras 120 .

[0061] The control device 110 is configured to send an exposure trigger signal to the plurality of cameras 120 .

[0062] Exemplarily, the exposure trigger signal may be a periodic pulse signal, for example, the exposure trigger signal may be a pulse width modulation (PWM) signal.

[0063] In some embodiments, the control device 110 includes a trigger for issuing a trigger signal when a preset event is satisfied, for example, issuing an exposure trigger signal when a preset time period is satisfied.

[0064] As a possible implementation, the control device 110 includes a timer, which is used to instruct the control device 110 to send an exposure trigger signal according to a preset time period. Figure 2 As shown, an exposure trigger signal is issued every time the timer count ends (the counting time of the timer is usually the frame rate of the image, for example, the counting time of the timer can be 33.33ms or 20ms, etc.), thereby generating a periodic exposure trigger signal.

[0065] Illustratively, the control device 110 may be a system on chip (SOC), in which all control circuits required by the system are integrated.

[0066] In another exemplary embodiment, the control device 110 may be a server; alternatively, the control device 110 may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The control device 110 may also be other devices with processing functions, such as circuits, devices, or software modules, and this application does not impose any restrictions on this.

[0067] The camera 120 is used to receive the exposure trigger signal sent by the control device 110 and perform an exposure operation to obtain an exposure image.

[0068] In some embodiments, the camera 120 includes an image sensor 121. The image sensor 121 is configured to convert an optical image captured by the camera into an electrical signal (eg, a digital RGB signal).

[0069] In some embodiments, after receiving the exposure trigger signal, the multiple image sensors 121 perform synchronous exposure and transmit the exposure images obtained by exposure to the terminal device ( Figure 1 not shown).

[0070] Among them, the terminal device can be a display device for displaying the exposure image; or, the terminal device can be a processing device for processing the exposure image; or, the terminal device can be an identification device for identifying the target object (such as an obstacle) from the exposure image.

[0071] In some embodiments, the multi-camera system 100 further includes a processor ( Figure 1), is configured to execute the synchronous exposure processing method provided in the embodiments of the present application. Optionally, the processor may be integrated with the camera 120 (e.g., may be integrated with the image sensor 121 in the camera 120); or, the processor may be provided independently of the camera 120, and this application does not impose any restrictions on this.

[0072] In some embodiments, as Figure 3 As shown, a deserializer and a serializer are also included between the control device 110 and the camera 120. The serializer is provided on the control device 110 side and is used to encode the exposure trigger signal sent by the control device 110 to obtain a high-speed serial signal (for easy transmission); the deserializer is provided on the camera 120 side and is used to decode the high-speed serial signal to obtain the exposure trigger signal. In this way, by introducing the serializer and deserializer, the signal transmission speed can be increased, thereby reducing communication costs.

[0073] In some embodiments, the control device 110 and the plurality of cameras 120 may be independently provided; or, the control device 110 may be integrated into any one of the plurality of cameras 120 .

[0074] The following is a detailed introduction to a synchronous exposure processing method provided in an embodiment of the present application.

[0075] To facilitate understanding, the background of the synchronous exposure processing method provided in the embodiment of the present application is first introduced.

[0076] like Figure 4 As shown, generally, the processing logic of the image sensor after receiving the exposure trigger instruction includes:

[0077] 1. At time Ta, start reading the exposure trigger signal;

[0078] 2. At time Tb, the exposure trigger signal is recognized and exposure begins;

[0079] 3. At time Tc, the exposure is completed and the exposure image transmission begins;

[0080] 4. At time Td, the exposure image transmission is completed.

[0081] Accordingly, the timing diagram corresponding to the above processing logic can be as follows Figure 5 As shown. Among them, Figure 5 The exposure trigger signal includes an exposure trigger signal and a valid signal (for example, a row valid signal of an exposure image) generated by the image sensor by identifying the exposure trigger signal.

[0082] from Figure 5As can be seen from the figure, a signal cycle of the exposure trigger signal includes a high-level region and a low-level region; wherein the high-level region is the region where the exposure trigger signal is located. The image sensor begins to read the exposure trigger signal when the rising edge of the high-level signal arrives (i.e., at time Ta) to identify the exposure trigger signal. Exemplarily, the duration for the image sensor to read the exposure trigger signal may be T1. If the duration of the exposure trigger signal is greater than T1, it is determined that the exposure trigger signal has been successfully identified. After identification is completed, exposure begins (i.e., exposure begins at time Tb), and the exposure duration may be T2. Optionally, the exposure duration may be adjusted according to actual conditions, which is not limited in this embodiment of the present application. After exposure is completed, an exposure image is obtained, and then the exposure image is transmitted (i.e., the exposure image is transmitted at time Tc). The transmission duration may be T3. Optionally, the transmission duration is affected by the frame rate of the image sensor and the resolution of the exposure image. Finally, the exposure image is transmitted at time Td, and the image sensor completes one exposure operation.

[0083] In some embodiments, the pixel clock (PCLK) of the image sensor satisfies the following formula (1):

[0084] PCLK=H·(V+3+x)·A Formula (1)

[0085] Where H represents the number of rows of the resolution of the exposure image, V represents the number of columns, x represents the exposure time, and A represents the frame rate of the image sensor.

[0086] In some embodiments, the entire transmission time Tall of the image sensor performing one exposure operation may satisfy: Tall=T1+T2+T3.

[0087] In an ideal situation, Figure 5 In the form shown, the transmission time Tall satisfies the following: Tall = 1 / A. Furthermore, the transmission time Tall is exactly equal to one cycle of the exposure trigger signal. This means that the moment the exposure image transmission is completed (i.e., time Td) coincides with the rising edge of the next high-level signal (i.e., time Ta). Thus, the image sensor can begin reading the next exposure trigger signal after the exposure image transmission is complete.

[0088] However, since the image sensor's clock source is provided by a phase-locked loop (PLL) within the sensor, and the control device's clock source is provided by a PLL within the control device (the PLL is usually based on a crystal or crystal oscillator), the image sensor and the control device use two independent clock sources. In actual applications, due to phenomena such as crystal oscillator offset, there will be frequency deviation and mismatch between the two independent clock sources. For example, when the control device's clock source is faster than the image sensor's clock source, Tall>1 / A may occur. At the same time, the transmission time Tall may be greater than one signal cycle of the exposure trigger signal. For details, see Figure 6 .

[0089] like Figure 6 As shown, the transmission time Tall is greater than one signal cycle of the exposure trigger signal. This means that when the next high-level rising edge of the exposure trigger signal arrives (i.e., the next Ta moment), the image sensor has not yet completed the transmission of the exposure image generated in the current exposure operation. Therefore, the image sensor cannot read the next exposure trigger signal. This means that a delay time Tx is generated during this process, making the transmission time Tall = 1 / A + Tx. Once this occurs, the recognition time of the next frame exposure trigger signal is delayed by Tx, thus affecting the next stage of exposure operation. As the delay time Tx accumulates, the exposure start time increases with the number of frames. When the delay time Tx accumulates sufficiently, the time it takes for the image sensor to recognize the exposure trigger signal is less than the preset threshold, that is, Th - Tx < 3*pclk (assuming the preset threshold is 3*Pclk), and the image sensor will not recognize the signal for that frame.

[0090] It is understandable that if the image sensor experiences a delay during the current exposure operation, affecting the next exposure operation, the image sensor will also experience a delay when executing the next exposure operation, affecting the exposure operation after that. This cumulative effect can cause the duration of the high level of the exposure trigger signal read by the image sensor to be less than the preset threshold during a certain period. In this case, the image sensor will not recognize this exposure trigger signal, resulting in frame loss. If the exposure trigger signal is a periodic signal, this cumulative effect can lead to periodic frame loss.

[0091] Therefore, based on the above background and existing technical problems, the synchronous exposure processing method provided by the embodiment of the present application is proposed. Optionally, the method can be as follows Figure 1 Alternatively, the method may also be executed by a processor in a multi-camera system, and the embodiment of the present application does not impose any limitation on this.

[0092] Figure 7 This is a flowchart of a synchronous exposure processing method provided by the embodiment of the present application. Figure 1 Taking any image sensor shown in (hereinafter referred to as: target image sensor) as an example, the synchronous exposure processing method provided by the embodiment of the present application is described. Figure 7 As shown, the method includes the following steps:

[0093] S101: Determine a first duration of a target image sensor.

[0094] Optionally, the target image sensor may be any one of the multiple sensors included in the multi-camera system.

[0095] In some embodiments, the first duration includes the time required for the target image sensor to generate and transmit a frame of image, wherein the start time of generating a frame of image is the time when the target image sensor reads the exposure trigger signal.

[0096] Exemplarily, the first duration includes: the time it takes for the target image sensor to read an exposure trigger signal, the exposure time, and the exposure image transmission time. The exposure trigger signal is sent by a control device (e.g., a system-on-chip (SOC)) to cause the target image sensor to perform an exposure operation.

[0097] The time at which the target image sensor reads the exposure trigger signal is determined by the target image sensor's pixel clock (PCLK). Typically, the time at which the target image sensor reads the exposure trigger signal is 3 × PCLK. Therefore, the time at which the target image sensor reads the exposure trigger signal is fixed. It can be understood that determining the time at which the target image sensor reads the exposure trigger signal is to ensure that the read trigger signal is a valid signal and to avoid misidentification caused by sudden changes or jumps in the pulse signal within a short period of time.

[0098] The exposure time is determined by the user according to actual conditions. Therefore, the exposure time is set in advance. When the target image sensor performs the exposure operation, the exposure time is fixed.

[0099] The exposure image transmission time is the time it takes for the target image sensor to transmit the exposure image to the terminal device. This exposure image transmission time is affected by the target image sensor's frame rate and the resolution of the exposure image, and is therefore variable. The exposure image is the image generated by the target image sensor after performing an exposure operation.

[0100] In some embodiments, the first time length of the target image sensor is less than a signal cycle of the exposure trigger signal received by the target image sensor.

[0101] Among them, the exposure trigger signal is a periodic signal. One signal period includes one exposure trigger signal, which can enable the target image sensor to perform one trigger operation.

[0102] Exemplarily, the relationship between the first duration of the target image sensor and the time of one signal period of the exposure trigger signal can be as Figure 8 shown. Among them, the time for the target image sensor to read the exposure trigger signal is T1, the exposure time is T2, and the exposure image transmission time is T3. It can be seen that the first duration (i.e., Tall = T1 + T2 + T3) of the process for the target image sensor to perform one exposure operation is less than the time of one signal period of the exposure trigger signal.

[0103] In some embodiments, the above step S101 can be implemented as the following steps:

[0104] Step a1: Adjust the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor.

[0105] As a possible implementation manner, according to the first error value and the second error value, increase the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor.

[0106] Among them, the first error value is the minimum value among the error values of the clock source of the target image sensor; the second error value is the maximum value among the error values of the clock source of the control device.

[0107] Specifically, use positive and negative offset operations to calculate the absolute value of the difference between the first error value and the second error value; and then, according to the calculated absolute value of the difference between the first error value and the second error value, and the current frame rate of the target image sensor, obtain the target frame rate of the target image sensor.

[0108] Exemplarily, if the error value of the clock source of the target image sensor is OF_M% (the first error value), and the deviation value of the clock source of the control device is OF_N% (the second error value), then the absolute value of the difference between OF_M% and OF_N% obtained through positive and negative offset operations is OF_S% (0 < OF_S < 1). Further, according to OF_S%, determine the target frame rate of the target sensor. Then the target frame rate of the target sensor can satisfy the following formula (2):

[0109] A’ = A / (1 - OF_S) Formula (2)

[0110] Among them, A’ represents the target frame rate of the target image sensor, A represents the current frame rate of the target image sensor, and the units of A’ and A are both fps (fps represents frames per second).

[0111] Step a2: determining a first duration of the target image sensor based on a target frame rate of the target image sensor, so that the first duration of the target image sensor is less than one signal cycle of the exposure trigger signal.

[0112] In some embodiments, the first duration of the target image sensor is determined based on the inverse of the target frame rate of the target image sensor. Optionally, the first duration of the target image sensor may be equal to the inverse of the target frame rate of the target image sensor; or the first duration of the target image sensor may be less than the inverse of the target frame rate of the target image sensor.

[0113] For example, assuming that the target frame rate of the target sensor is: A / (1-OF_S), the first duration of the target image sensor can satisfy the following formula (3):

[0114] Tall_u≤1 / A·(1-OF_S) Formula (3)

[0115] Wherein, Tall_u is the first duration of the target image sensor.

[0116] In some other embodiments, the above step S101 may be implemented as the following steps:

[0117] Step b1: Adjust the initial resolution of the exposure image to obtain the target resolution of the exposure image.

[0118] The exposure image is the image obtained by the target image sensor through the exposure operation; the initial resolution of the exposure image is the same as the resolution of the target image sensor; and the target resolution is the resolution of the exposure image during the target image sensor's transmission. For example, assuming the target image sensor has a resolution of 120×120, the initial resolution of the exposure image is 120×120. Furthermore, by adjusting the initial resolution of the exposure image in step b1, the target resolution of the exposure image is 110×110. Therefore, during the transmission of the exposure image from the target image sensor to the terminal device, the resolution of the exposure image is 110×110.

[0119] In some embodiments, the exposure image includes an active area and a blanking area. The active area is the region of valid pixels in the exposure image, while the blanking area is the black level region (excluding valid pixel information) in the exposure image. The black level region refers to a set of pixels that are completely unexposed. Therefore, reducing the initial resolution of the exposure image can be achieved by reducing the resolution of the blanking area (i.e., the target area) in the exposure image. For example, assuming the resolution of the exposure image is 120×120, the resolution of the active area is 100×100, and the resolution of the blanking area is 20×20, then the resolution of the blanking area is reduced to 10×10, resulting in a target resolution of 110×110.

[0120] It is understandable that the method provided in the embodiment of the present application can reduce the resolution of the exposure image as much as possible without losing the effective pixel information of the exposure image, thereby reducing the transmission time of the exposure image.

[0121] Step b2: determining a first duration of the target image sensor based on the target resolution of the exposure image, so that the first duration of the target image sensor is less than one signal cycle of the exposure trigger signal.

[0122] It can be understood that since the first time length includes: the time when the target image sensor reads the exposure trigger signal, the exposure time, and the exposure image transmission time; among which, the time when the target image sensor reads the exposure trigger signal and the exposure time are fixed, therefore, if you want to change the first time length, you need to start from the transmission time of the exposure image. Since the transmission time of the exposure image is affected by the resolution of the exposure image, after obtaining the exposure image, you can change the first time length by changing the resolution of the exposure image.

[0123] Generally, the greater the resolution of the exposure image, the longer the transmission time of the exposure image. Therefore, the embodiment of the present application reduces the transmission time of the exposure image by reducing the resolution of the exposure image, thereby reducing the first time length of the target image sensor.

[0124] Since the initial resolution of the exposure image is determined by the resolution of the target image sensor that generates the target image, the resolution of the exposure image can be determined based on the resolution of the target image sensor, and then the target resolution of the exposure image can be determined through the above steps b1-b2, so that the exposure image is transmitted at the target resolution, which can reduce the transmission time of the exposure image.

[0125] S102: Determine a minimum pixel clock frequency of the target image sensor based at least on the first duration.

[0126] In some embodiments, the method further includes obtaining a resolution and exposure duration of the image sensor. Thus, step S102 may be implemented as determining a minimum pixel clock frequency of the target image sensor based on the resolution, exposure duration, and first duration of the target image sensor.

[0127] For example, the above minimum pixel clock frequency may satisfy the following formula (4):

[0128] PCLK≥H·(V+a+x) / Tall_u Formula (4)

[0129] Wherein, PCLK represents the minimum pixel clock frequency, H represents the number of rows of the resolution of the target image sensor, V represents the number of columns of the resolution of the target image sensor, x represents the exposure time, Tall_u represents the first time, a is a constant, and a is greater than or equal to 0. For example, the value of a can be 3.

[0130] For example, assuming that the resolution of the image sensor is 1180*2250, the exposure time is 100 columns, the value of a can be 3, the frame rate of the target image sensor is 30Hz, and the value of OF_S is 2%, the minimum pixel clock frequency is: PCLK=1180(2250+3+100)*30 / (1-2%)=84.99612MHz.

[0131] S103 : Determine a target pixel clock frequency of the target image sensor based on the minimum pixel clock frequency.

[0132] The target pixel clock frequency is greater than or equal to the minimum pixel clock frequency.

[0133] It is understandable that based on the method provided in the embodiment of the present application, the user can determine the target clock frequency based on the actual situation on the basis of the minimum clock frequency, so as to meet the usage needs of different users in different usage scenarios.

[0134] S104 : Based on the target pixel clock frequency, control the target image sensor to perform an exposure operation, so that multiple image sensors of the multi-camera system are exposed synchronously.

[0135] In some embodiments, as Figure 9 As shown, the above step S104 can be implemented as the following steps:

[0136] S1041: Adjust the current pixel clock frequency of the target image sensor to the target pixel clock frequency.

[0137] Specifically, the pixel clock frequency of the target image sensor is adjusted from the current pixel clock frequency to the target pixel clock frequency.

[0138] S1042: After the adjustment, control the target image sensor to perform an exposure operation according to the received exposure trigger signal.

[0139] Specifically, after adjustment, the target image sensor starts to read and identify the exposure trigger signal when the rising edge of the exposure trigger signal arrives. After the identification is completed, it starts to perform the exposure operation to obtain the exposure image, and then transmits the exposure image according to the exposure image transmission time in the first time length determined in step S101.

[0140] It can be understood that the method provided in the present application determines the first time duration required for multiple image sensors to generate and transmit a frame of image (the first time duration is less than one signal period of the exposure trigger signal received by the multiple image sensors); then, based on the first time duration of the multiple image sensors (the first time duration of the multiple image sensors may be the same or different), respectively determine the minimum pixel clock frequency of the multiple image sensors; then, based on the minimum pixel clock frequency of the multiple image sensors, respectively determine the target pixel clock frequency of the multiple image sensors (the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency); finally, the multiple image sensors are caused to perform exposure operations based on the target pixel clock frequency, thereby achieving synchronous exposure of the multiple image sensors.

[0141] Since the first time length of multiple image sensors determined based on the method provided in the present application must be less than one signal cycle of the exposure trigger signal received by the multiple image sensors, therefore, if the multiple image sensors perform the exposure operation based on the minimum pixel clock frequency (or target pixel clock frequency) determined by the first time length, the current exposure operation can be completed before the arrival of the next signal cycle of the exposure trigger signal. In this way, when the next signal cycle of the exposure trigger signal arrives, the multiple image sensors can read it at the same time, thereby achieving synchronous exposure, effectively solving the problem of frame loss caused by asynchronous exposure time.

[0142] In some embodiments, the method provided in the embodiments of the present application can be applied to the field of autonomous driving of automobiles. For example, Figure 10 As shown, a first image sensor is set at the front position of the vehicle terminal to obtain image information in front of the vehicle terminal; a fourth image sensor is set at the rear position of the vehicle terminal to obtain image information behind the vehicle terminal; a second image sensor and a third image sensor are respectively set at the positions of the rearview mirrors on both sides of the vehicle terminal to obtain image information on the left and right sides of the vehicle terminal; then, the control device simultaneously sends an exposure trigger signal to the first image sensor, the second image sensor, the third image sensor and the fourth image sensor, so that the first image sensor, the second image sensor, the third image sensor and the fourth image sensor perform a synchronous exposure operation according to the method provided in the above steps S101 to S104, so as to simultaneously obtain exposure images of the front, rear and left and right sides of the vehicle terminal, and then determine the driving mode of the vehicle terminal according to the exposure images of the front, rear and left and right sides of the vehicle terminal.

[0143] Exemplarily, obstacle recognition is performed on the exposure images in front, behind, and on both sides of the vehicle terminal to determine whether there are obstacles in front, behind, and on both sides of the vehicle terminal; then, if there are obstacles, the vehicle terminal travels around the obstacles.

[0144] In another example, road recognition is performed on the exposed images in front, behind, and on both sides of the vehicle terminal to determine road traffic signs in front, behind, and on both sides of the vehicle terminal; then the vehicle terminal determines the driving direction and driving path based on the recognition results of the road traffic signs.

[0145] It can be understood that applying the method provided in the embodiment of the present application to the field of autonomous driving of automobiles can ensure that multiple image sensors of the vehicle terminal perform synchronous exposure operations, effectively reduce the time difference between multiple exposure images obtained by multiple image sensors, ensure that multiple exposure images are at the same moment, and thus improve the autonomous driving accuracy of the vehicle terminal.

[0146] like Figure 11 As shown, the embodiment of the present application provides a synchronous exposure processing device for performing the following Figure 3 The synchronous exposure processing method shown in FIG. The synchronous exposure processing device 300 includes: a determination module 301 and an exposure module 302. In some other embodiments, the synchronous exposure processing device 300 further includes: an adjustment module 303 and an acquisition module 304.

[0147] Determination module 301 is configured to determine a first duration of a target image sensor; the first duration is the time required for the target image sensor to generate and transmit one frame of image; the first duration is less than one signal period of an exposure trigger signal received by the target image sensor; a minimum pixel clock frequency of the target image sensor is determined based on at least the first duration; a target pixel clock frequency of the target image sensor is determined based on the minimum pixel clock frequency; the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency.

[0148] The exposure module 302 is configured to control a target image sensor to perform an exposure operation based on a target pixel clock frequency, so that multiple image sensors of the multi-camera system are exposed synchronously.

[0149] In one possible implementation, the adjustment module 303 is configured to adjust the current frame rate of the target image sensor to obtain a target frame rate of the target image sensor; and the determination module 301 is specifically configured to determine a first duration of the target image sensor based on the target frame rate of the target image sensor, so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

[0150] In another possible implementation, the above multi-camera system further includes: a control device for sending an exposure trigger signal to multiple image sensors; the adjustment module 303 is specifically configured to increase the current frame rate of the target image sensor according to the first error value and the second error value to obtain the target frame rate of the target image sensor; the first error value is the minimum value of the error values of the clock sources of the target image sensor; the second error value is the maximum value of the error values of the clock sources of the control device.

[0151] In another possible implementation, the target frame rate of the above target image sensor satisfies the following relationship:

[0152] A’ = 1 / [A / (1 - b)]

[0153] Where, A’ represents the target frame rate of the target image sensor, A represents the current frame rate of the target image sensor, 0 < b < 1, and b is determined according to the first error value and the second error value.

[0154] In another possible implementation, the adjustment module 303 is further configured to adjust the initial resolution of the exposure image to obtain the target resolution of the exposure image; the exposure image is an image obtained by the target image sensor by performing an exposure operation; the target resolution is the resolution of the exposure image during the process of the target image sensor transmitting the exposure image; the determination module 301 is specifically configured to determine the first duration of the target image sensor based on the target resolution of the exposure image, so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

[0155] In another possible implementation, the above exposure image includes: a target area; the target area is the black level area in the exposure image; the black level area is a set of pixel points that are completely unexposed; the adjustment module 303 is specifically configured to reduce the resolution of the target area in the exposure image to obtain the target resolution of the exposure image.

[0156] In another possible implementation, the acquisition module 304 is configured to acquire the resolution and exposure duration of the target image sensor; the determination module 301 is specifically configured to determine the minimum pixel clock frequency of the target image sensor according to the resolution, exposure duration and the first duration of the target image sensor.

[0157] In another possible implementation, the minimum pixel clock frequency of the above target image sensor satisfies the following relationship:

[0158] PCLK ≥ H·(V + a + x) / Tall_u

[0159] Wherein, PCLK represents the minimum pixel clock frequency, H represents the number of rows of the resolution of the target image sensor, V represents the number of columns of the resolution of the target image sensor, x represents the exposure time, Tall_u represents the first time, and a is a constant, and a is greater than or equal to 0.

[0160] In another possible implementation, the exposure module 302 is specifically configured to adjust the current pixel clock frequency of the target image sensor to the target pixel clock frequency; after the adjustment, the exposure module 302 controls the target image sensor to perform an exposure operation according to the received exposure trigger signal.

[0161] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiment of the present application provides another possible structural diagram of the synchronous exposure processing device involved in the above-mentioned embodiment. Figure 12 As shown, the synchronous exposure processing device 400 includes: a processor 402 , a communication interface 403 , and a bus 404 . Optionally, the synchronous exposure processing device may further include a memory 401 .

[0162] Processor 402 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 402 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 402 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, or a combination of a DSP and a microprocessor.

[0163] The communication interface 403 is used to connect to other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0164] The memory 401 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0165] As a possible implementation, memory 401 can exist independently of processor 402. Memory 401 can be connected to processor 402 via bus 404 to store instructions or program code. When processor 402 calls and executes the instructions or program code stored in memory 401, the synchronous exposure processing device method provided in the embodiment of the present application can be implemented.

[0166] In another possible implementation, the memory 401 may also be integrated with the processor 402 .

[0167] The bus 404 may be an extended industry standard architecture (EISA) bus, etc. The bus 404 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0168] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the synchronous exposure processing device can be divided into different functional modules to complete all or part of the functions described above.

[0169] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above-mentioned method embodiment can be completed by computer instructions to the relevant hardware, and the program can be stored in the above-mentioned computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The computer-readable storage medium can be the memory of any of the above-mentioned embodiments. The above-mentioned computer-readable storage medium can also be an external storage device of the above-mentioned synchronous exposure processing device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above-mentioned synchronous exposure processing device. Furthermore, the above-mentioned computer-readable storage medium can also include both the internal storage unit of the above-mentioned synchronous exposure processing device and an external storage device. The above-mentioned computer-readable storage medium is used to store the above-mentioned computer program and other programs and data required by the above-mentioned synchronous exposure processing device. The above-mentioned computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0170] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program product is run on a computer, the computer is enabled to execute any one of the synchronous exposure processing methods provided in the above embodiments.

[0171] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple components. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0172] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, the present application is intended to include such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

[0173] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A synchronous exposure processing method, characterized in that: Applied to a multi-camera system; the multi-camera system includes multiple image sensors; the multiple image sensors include a target image sensor; the method includes: Determine a first duration of the target image sensor; the first duration is the time required for the target image sensor to generate and transmit a frame of image; the first duration is less than one signal period of the exposure trigger signal received by the target image sensor; Determine at least the minimum pixel clock frequency of the target image sensor according to the first duration; Determine the target pixel clock frequency of the target image sensor according to the minimum pixel clock frequency; the target pixel clock frequency is greater than or equal to the minimum pixel clock frequency; Based on the target pixel clock frequency, control the target image sensor to perform an exposure operation so that the multiple image sensors of the multi-camera system are synchronously exposed.

2. The method according to claim 1, characterized in that The determining the first duration of the target image sensor includes: Adjust the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor; Based on the target frame rate of the target image sensor, determine the first duration of the target image sensor so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

3. The method according to claim 2, characterized in that The multi-camera system further includes: a control device for sending the exposure trigger signal to the multiple image sensors; The adjusting the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor includes: According to a first error value and a second error value, increase the current frame rate of the target image sensor to obtain the target frame rate of the target image sensor; the first error value is the minimum value of the error values of the clock source of the target image sensor; the second error value is the maximum value of the error values of the clock source of the control device.

4. The method according to claim 3, characterized in that The target frame rate of the target image sensor satisfies the following relationship: A’ = A / (1 - OF_S) Where, A’ represents the target frame rate of the target image sensor, A represents the current frame rate of the target image sensor, 0 < OF_S < 1, and OF_S is determined according to the first error value and the second error value.

5. The method according to claim 1, characterized in that The determining the first duration of the target image sensor includes: Adjust the initial resolution of the exposure image to obtain the target resolution of the exposure image; the exposure image is an image obtained by the target image sensor performing an exposure operation; the target resolution is the resolution of the exposure image during the process of the target image sensor transmitting the exposure image; Based on the target resolution of the exposure image, determine the first duration of the target image sensor so that the first duration of the target image sensor is less than one signal period of the exposure trigger signal.

6. The method according to claim 5, characterized in that The exposure image includes: a target area; the target area is the black level area in the exposure image; the black level area is a set of pixel points that are not exposed at all; The adjusting the initial resolution of the exposure image to obtain the target resolution of the exposure image includes: The resolution of the target area in the exposure image is reduced to obtain a target resolution of the exposure image.

7. The method according to claim 1, characterized in that The method further comprises: Obtaining the resolution and exposure time of the target image sensor; The determining, at least based on the first duration, a minimum pixel clock frequency of the target image sensor includes: The minimum pixel clock frequency of the target image sensor is determined according to the resolution of the target image sensor, the exposure time, and the first time.

8. The method according to claim 7, characterized in that The minimum pixel clock frequency of the target image sensor satisfies the following relationship: PCLK≥H·(V+a+x) / Tall_u Wherein, PCLK represents the minimum pixel clock frequency, H represents the number of rows of the resolution of the target image sensor, V represents the number of columns of the resolution of the target image sensor, x represents the exposure time, Tall_u represents the first time, and a is a constant, and a is greater than or equal to 0.

9. The method according to claim 1, characterized in that The step of controlling the target image sensor to perform an exposure operation based on the target pixel clock frequency includes: Adjusting the current pixel clock frequency of the target image sensor to the target pixel clock frequency; After the adjustment, the target image sensor is controlled to perform an exposure operation according to the received exposure trigger signal.

10. A synchronous exposure processing device, characterized in that: Applicable to multi-camera systems; The multi-camera system includes a plurality of image sensors; the plurality of image sensors includes a target image sensor; and the apparatus includes: a determination module configured to determine a first duration of the target image sensor; the first duration being the time required for the target image sensor to generate and transmit one frame of image; the first duration being less than one signal cycle of an exposure trigger signal received by the target image sensor; determining a minimum pixel clock frequency of the target image sensor based at least on the first duration; and determining a target pixel clock frequency of the target image sensor based on the minimum pixel clock frequency; the target pixel clock frequency being greater than or equal to the minimum pixel clock frequency; An exposure module is configured to control the target image sensor to perform an exposure operation based on the target pixel clock frequency, so that multiple image sensors of the multi-camera system are exposed synchronously.

11. A synchronous exposure processing device, characterized in that: include: one or more processors; one or more memories; Wherein, the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the synchronous exposure processing device executes the synchronous exposure processing method described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed on a computer, the computer is enabled to execute the synchronous exposure processing method according to any one of claims 1 to 9.

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