Vehicle Camera Calibration Prompt Method and Device, Electronic Device, Medium

Abstract

The present invention relates to the field of autonomous driving, and particularly relates to a method and device for calibrating and prompting a vehicle camera. The method includes: controlling at least three vehicle cameras to synchronously take pictures at a preset time interval; when it is detected that the change value of the relative position between the images taken by any two cameras at a later moment and the relative position between the images taken at a previous moment exceeds a preset threshold, determining whether the change value of the relative position between the images taken by the third camera and either of the two cameras at the later moment and the relative position between the images taken at the previous moment exceeds the preset threshold; when the judgment result is yes, giving a calibration prompt for either of the two cameras, and when the judgment result is no, giving a calibration prompt for the other of the two cameras. The method can timely detect the situation of vehicle camera offset and effectively improve the safety performance of assisted driving and autonomous driving vehicles.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and particularly to a method and device for calibrating and prompting a vehicle camera, an electronic device, and a medium. Background Art

[0002] The development of artificial intelligence and big data technologies has also promoted the further progress and development of vehicle assisted driving and autonomous driving technologies. In vehicle assisted driving and autonomous driving technologies, a vehicle needs to sense environmental information through a camera, detect, for example, road lane markings and road boundaries, obstacles, other road users, etc., or survey and / or display, for example, the front and / or rear areas of a motor vehicle when parking. Therefore, the camera is also an indispensable sensor for the vehicle body.

[0003] Since it is driven and subjected to the severe tests of the real world, the positioning of the camera may change during the service life of the vehicle. Influences such as rough roads and the vibration of closing doors, car washing, and the repair and replacement of various parts, as well as the movement of the pivoting side mirror housing, will all affect the position (including angular orientation) of the camera, resulting in frequent misalignment of the camera and large deviations in the captured images, thereby affecting the safety performance of the vehicle. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for calibrating and prompting a vehicle camera, an electronic device, and a medium in the field of autonomous driving, thereby at least to some extent overcoming the above problems caused by the limitations and defects of related technologies.

[0005] According to one aspect of the present invention, there is provided a method for calibrating and prompting a vehicle camera, including the following steps:

[0006] Controlling at least three vehicle cameras to synchronously take pictures at a preset time interval;

[0007] When it is detected that the change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment exceeds a preset threshold, determining whether the change value of the relative position between the images captured by the third camera and any one of the two cameras at the later moment and the relative position between the images captured at the previous moment exceeds the preset threshold;

[0008] When the judgment result is yes, giving a calibration prompt to this one of the two cameras, and when the judgment result is no, giving a calibration prompt to the other one of the two cameras.

[0009] In an exemplary embodiment, detecting a change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment includes:

[0010] When it is recognized that there is an overlapping area in the images captured by any two cameras, detecting a change value of the area of the overlapping area between the images captured by the two cameras at a later moment and the area of the overlapping area between the images captured at a previous moment.

[0011] In an exemplary embodiment, detecting a change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment includes:

[0012] When it is recognized that there is the same object in the images captured by any two cameras, detecting a change value of the proportion of the object in the two images captured at a later moment and the proportion of the object in the two images captured at a previous moment.

[0013] In an exemplary embodiment, the step of giving a calibration prompt to any one of the two cameras when the judgment result is yes includes:

[0014] If the judgment result is yes, when it is detected that the change value of the relative position between the images captured by the fourth camera and the third camera at a later moment and the relative position between the images captured at a previous moment is within a preset threshold, giving a calibration prompt to any one of the two cameras.

[0015] In an exemplary embodiment, the step of giving a calibration prompt to the other camera of the two cameras when the judgment result is no includes:

[0016] If the judgment result is no, when it is detected that the change value of the relative position between the images captured by the fourth camera and the third camera at a later moment and the relative position between the images captured at a previous moment is within a preset threshold, giving a calibration prompt to the other camera of the two cameras.

[0017] In an exemplary embodiment, the step of giving a calibration prompt to the camera includes:

[0018] Sending a calibration prompt signal to the vehicle control system so that the vehicle control system calibrates the camera according to the calibration prompt signal.

[0019] In an exemplary embodiment, the step of giving a calibration prompt to the camera includes:

[0020] Sending a calibration prompt signal to the vehicle driver and sending a parking control signal to the vehicle control system.

[0021] In an exemplary embodiment, the calibration prompt for any one of the two cameras when the judgment result is yes includes:

[0022] Detecting whether the change value of the proportion of the vehicle body part in the image captured by any one of the cameras at a later moment compared to the proportion of the vehicle body part in the image captured at a previous moment exceeds the preset threshold;

[0023] If the detection result is yes, a calibration prompt is given for any one of the cameras.

[0024] In an exemplary embodiment, the calibration prompt for the other one of the two cameras when the judgment result is no includes:

[0025] Detecting whether the change value of the proportion of the vehicle body part in the image captured by the other camera at a later moment compared to the proportion of the vehicle body part in the image captured at a previous moment exceeds the preset threshold;

[0026] If the detection result is yes, a calibration prompt is given for the other camera.

[0027] According to another aspect of the present invention, there is provided a vehicle camera calibration prompt device, including:

[0028] A shooting module for controlling at least three vehicle cameras to shoot synchronously at a preset time interval;

[0029] A judgment module for judging whether the change value of the relative position between the images captured by the third camera and any one of the two cameras at a later moment compared to the relative position between the images captured at a previous moment exceeds the preset threshold when it is detected that the change value of the relative position between the images captured by any two cameras at a later moment compared to the relative position between the images captured at a previous moment exceeds the preset threshold;

[0030] A prompt module for giving a calibration prompt for any one of the two cameras when the judgment result is yes, and giving a calibration prompt for the other one of the two cameras when the judgment result is no.

[0031] According to another aspect of the present invention, there is provided an electronic device, including:

[0032] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above method.

[0033] According to another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the above method is implemented.

[0034] The present invention provides a method for calibrating and prompting a vehicle camera. On the one hand, by setting the linkage relationship of multiple cameras around the vehicle to be used as references for each other to perform image detection in real time, the situation of the vehicle camera offset can be detected in a timely manner; on the other hand, a detection threshold is set for the offset camera as a discrimination criterion, and the accuracy of detection is set according to the actual driving needs of the vehicle, which can effectively improve the safety performance of assisted driving and autonomous driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic flowchart of a method for calibrating and prompting a vehicle camera in an exemplary embodiment of the present invention;

[0036] Figure 2 is a schematic structural diagram of a vehicle camera group in an exemplary embodiment of the present invention;

[0037] Figure 3 is a schematic structural diagram of a vehicle camera group in an exemplary embodiment of the present invention;

[0038] Figure 4 is a schematic structural diagram of a vehicle camera calibration and prompting device in an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments and implementation manners of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. However, the exemplary embodiments and examples can be implemented in various forms and should not be construed as limited to the examples described herein; on the contrary, these embodiments and examples are provided so that the present invention will be more comprehensive and complete, and the concept of the exemplary embodiments and examples will be fully conveyed to those skilled in the art. The features, structures, or characteristics described in the present invention can be combined in any suitable manner in one or more embodiments and examples. In the following description, many specific details are provided to give a full understanding of the embodiments and examples of the present invention. However, those skilled in the art will realize that the technical solutions of the present invention can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known technical solutions are not shown or described in detail to avoid obscuring the various aspects of the present invention.

[0040] In addition, the drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Although the steps of the method in the present invention are described in a specific order in the drawings, this does not require or imply that these steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. The flowcharts shown in the drawings are only exemplary illustrations and do not necessarily include all the steps. For example, some steps can be decomposed, while some steps can be combined or partially combined, so the actual execution order may change according to the actual situation. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0041] The development of artificial intelligence and big data technologies has also promoted the further progress and development of vehicle assisted driving and autonomous driving technologies. In vehicle assisted driving and autonomous driving technologies, a vehicle needs to sense environmental information through cameras, detect, for example, road lane markings and road boundaries, obstacles, other road users, etc., or survey and / or display, for example, the front and / or rear areas of a motor vehicle when parking, and thus cameras are also indispensable sensors for the vehicle body. The cameras installed on the vehicle body often shift in terms of angle direction, etc. as the vehicle speed increases. On the one hand, the cameras are not completely fixed to the vehicle body, and there are tolerances in the manufacture of the cameras and their assembly into the vehicle; on the other hand, due to being driven and being severely tested in the real world, the positioning of the cameras may change during the service life of the vehicle. Influences such as rough roads and the vibration of closing doors, car washing, and the repair and replacement of various parts, as well as the movement of the pivotable side mirror housing, will all affect the position (including angular orientation) of the cameras; on the other hand, as the level of autonomous driving increases, the number of cameras installed on the vehicle has also increased significantly. The number of cameras installed on autonomous driving vehicles at L3 and L4 levels has reached more than a dozen to more than twenty. All of these may cause the cameras to frequently become misaligned, and the images captured also deviate greatly, thus affecting the safety performance of the vehicle.

[0042] Based on the above problems existing in the related art, it is extremely important to maintain the accuracy and stability of the vehicle's body cameras during vehicle driving. In this regard, the present invention provides a vehicle camera calibration prompt method, including: controlling at least three vehicle cameras to synchronously take pictures at a preset time interval; when it is detected that the change value of the relative position between the images taken by any two cameras at the next moment and the relative position between the images taken at the previous moment exceeds a preset threshold, determining whether the change value of the relative position between the images taken by the third camera and any one of the two cameras at the next moment and the relative position between the images taken at the previous moment exceeds the preset threshold; when the judgment result is yes, giving a calibration prompt to any one of the two cameras, and when the judgment result is no, giving a calibration prompt to the other one of the two cameras. On the one hand, the method can timely detect the situation of vehicle camera deviation by setting the linkage relationship of multiple cameras on the vehicle body to mutually serve as a reference for real-time image detection; on the other hand, by setting a detection threshold as a discrimination criterion for the deviated camera and setting the detection accuracy according to the actual driving needs of the vehicle, the safety performance of assisted driving and autonomous driving vehicles can be effectively improved.

[0043] Further, it is also possible to automatically calibrate the camera by the vehicle system after receiving the calibration prompt signal in the case of a small deviation, or to provide an emergency stop function to reduce potential safety hazards after the vehicle system receives the calibration prompt signal in the case of a large deviation, and to send a calibration prompt signal to the vehicle occupants in the vehicle according to the detection situation, so as to prompt the occupants to control the vehicle manually to eliminate the safety hazards brought by the camera deviation.

[0044] An exemplary embodiment of the present invention provides a vehicle camera calibration prompt method, Figure 1 which is a flowchart of a vehicle camera calibration prompt method in an exemplary embodiment of the present invention; as Figure 1 shown, the vehicle camera calibration prompt method includes the following steps:

[0045] Step S11: Control at least three vehicle cameras to synchronously take pictures at a preset time interval;

[0046] Based on the development of artificial intelligence algorithms and big data technologies, vehicle intelligence has also advanced from early assisted driving to more autonomous driving. The realization of autonomous driving involves the vehicle sensors' perception of the vehicle itself and the external environment, analysis of the information, and making decisions, ultimately achieving the pre-set driving process and other procedures. During the process of collecting external environment information through sensors, cameras can be installed around the vehicle for various different purposes. For example, camera groups can be installed inside the front windshield of the vehicle for safety purposes, for driving assistance, or for promoting autonomous driving. Camera groups for obtaining environmental information can be installed on the sides of the vehicle, and even a full-circle camera group can be installed around the vehicle at a predetermined interval for omnidirectionally photographing the information around the vehicle. The cameras installed on the vehicle can obtain images of one or more areas around the vehicle. These images can be processed to obtain information about the road or the objects around the vehicle. For example, the images obtained by the cameras can be analyzed to determine the distance of the objects around the autonomous vehicle, enabling the safe maneuvering of the autonomous vehicle around the objects. Each camera is respectively connected to the vehicle control system, receives the shooting instructions from the control system, and each camera continuously shoots the external environment and uploads the captured images to the control system for the control system to analyze and judge the road conditions information and make corresponding driving decisions.

[0047] Step S13: When it is detected that the change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment exceeds a preset threshold, determine whether the change value of the relative position between the image captured by the third camera and the image captured by any one of the two cameras at the later moment and the relative position between the images captured at the previous moment exceeds the preset threshold;

[0048] To detect in real time the situation where multiple cameras of the vehicle are offset, the photos captured by each camera are used as references for comparison with each other. When the relative position of the images captured by two cameras that are used as references for each other changes, it can be inferred that the position of at least one camera is offset, and thus a third camera is introduced to further confirm the offset camera.

[0049] Autonomous driving or assisted driving vehicles are all equipped with multiple cameras. In most cases, the fields of view of two relatively close cameras overlap, that is, there is an overlapping area in the images captured by the two cameras. In an exemplary embodiment, the camera group for detecting obstacles in front of the vehicle is as Figure 2 shown, cameras A, B, and C are installed in front of the vehicle. The relative positions of cameras A, B, and C can be judged by the overlapping area of the captured photos. Exemplarily, step S13 may include:

[0050] When it is recognized that there is an overlapping area in the images captured by any two cameras, detect the change value of the area of the overlapping area between the images captured by the two cameras at a later moment and the area of the overlapping area between the images captured at a previous moment;

[0051] When it is detected that the change value of the area of the overlapping area between the images captured by any two cameras at a later moment and the area of the overlapping area between the images captured at a previous moment exceeds a preset threshold, determine whether the area of the overlapping area between the images captured by the third camera and any one of the two cameras at a later moment and the area of the overlapping area between the images captured at a previous moment exceed the preset threshold.

[0052] It can be understood that among the multiple cameras installed around the vehicle, not all the images captured by any two cameras have an overlapping situation. Therefore, it is first necessary to determine whether there is an overlapping area in the images captured by the two cameras. Only when there is an overlapping area can the situation of camera deviation be further detected. Further, in some cases, the two cameras set normally do not have an image overlapping situation, but due to the deviation of one of the cameras, the two images captured at a certain moment overlap. Then, the images captured at that moment and the next moment can be used for judgment, and the situation of camera deviation can also be detected.

[0053] It can also be understood that by setting a threshold as the discrimination criterion for the relative position change of the images, it includes both the situation where the relative positions of the images before and after the camera deviation are the same and the situation where the camera has a slight deviation and does not need to be calibrated. The value of the threshold can be set according to the requirements for the accuracy of the camera. Optionally, the change value of the relative position can be the ratio of the overlapping area of the images at a later moment to the overlapping area of the images at a previous moment. Then, the threshold can be set between 0.9 and 1.1. When the ratio exceeds this threshold, it is determined that the camera needs to be calibrated.

[0054] In an exemplary embodiment, the images captured by any two cameras at the same moment contain the same object. For example, both images contain the same vehicle in the front. Then, when the two cameras do not deviate, in the images captured by the two cameras at a later moment, the proportion of the vehicle should be the same. Therefore, it is possible to determine whether there is a camera deviation by detecting the change in this proportion. Then, step S13 may include:

[0055] When it is recognized that there is the same object in the images captured by any two cameras, detect the change value of the proportion of the object in the two images captured at a later moment and the proportion of the object in the two images captured at a previous moment;

[0056] When the change value of the ratio of the object in the two images captured at the later moment to the ratio in the two images captured at the previous moment is detected to exceed the preset threshold, it is determined whether the change value of the ratio of the same object in the image captured by the third camera and any one of the two cameras at the later moment to the ratio of the same object in the image captured at the previous moment exceeds the preset threshold.

[0057] For the detection of the relative position change of the two images, it can be detected by the above-mentioned situation of the change of the overlapping area, or it can be judged whether the camera is offset by the change of the ratio of the same object with the object in the two images. As Figure 3 shown, at the previous moment, cameras D and E are far from the object to be photographed, and the ratio of the object to be photographed in the two images is 2:1. In the case of no camera offset, at the later moment, the cameras are closer to the object to be photographed, and the ratio of the object to be photographed in each image becomes larger, but the ratio of the object to be photographed in the two images at the later moment is still 2:1. However, in the case of camera offset, the ratio of the object to be photographed in the two images changes accordingly. Therefore, it can be determined whether there is camera offset by the ratio of the object to be photographed in the front and back two groups of images; further, in the case of detecting offset in the two cameras, a third camera is introduced to determine which specific camera has offset by the same method.

[0058] Step S15: When the judgment result is yes, give a calibration prompt for any one of the two cameras, and when the judgment result is no, give a calibration prompt for the other one of the two cameras.

[0059] In step S13, the situation of offset in the two selected cameras can be judged by setting a threshold, but it cannot be determined which specific camera has offset. Therefore, any one of the cameras can be selected and combined with the third camera for judgment. If the selected camera also finds that it has offset relative to the third camera in the comparison with the third camera, it can be determined that the selected camera has offset, and then a calibration prompt can be given to it; on the other hand, if the selected camera is compared with the third camera and the result is no offset, it can be determined that the other camera of the two cameras has offset, and similarly, a calibration prompt can be given to it.

[0060] By introducing the third camera in the above steps, the camera with offset can be more conveniently screened out from the two cameras. In an exemplary embodiment, a fourth camera can be further used to more accurately determine the camera with offset. Exemplarily, when the judgment result is yes, giving a calibration prompt for any one of the two cameras may further include:

[0061] When the change value of the relative position between the images captured by the fourth camera and the third camera at a later moment and the relative position between the images captured at a previous moment is within a preset threshold, a calibration prompt is given for any one of the two cameras.

[0062] In another exemplary embodiment, the step of giving a calibration prompt for the other camera among the two cameras when the judgment result is a certain situation may further include:

[0063] When the change value of the relative position between the images captured by the fourth camera and the third camera at a later moment and the relative position between the images captured at a previous moment is within a preset threshold, a calibration prompt is given for the other camera among the two cameras.

[0064] It can be understood that in a 360-degree panoramic view vehicle equipped with more cameras, more cameras such as a fifth camera and a sixth camera can also be selected for discrimination to detect and calibrate all the offset cameras. For example, when an offset situation has been detected in two cameras, another two cameras can be selected to respectively discriminate the detected cameras.

[0065] In an exemplary embodiment, different calibration prompt intervals can be set to give calibration prompts to the camera in multiple different ways. For example, for a relatively slight camera offset, a calibration prompt signal can be sent to the vehicle control system when the offset situation is detected, and the vehicle control system automatically implements the calibration procedure for the corresponding camera according to the prompt information; for a relatively large camera offset, an emergency parking signal can be sent to the vehicle control system when the offset situation is detected. The vehicle control system controls vehicle detection and safe parking operations, etc., and at the same time, a camera calibration prompt signal can also be sent to the vehicle driver and passengers to prompt the driver and passengers to perform manual calibration of the camera. It can be understood that the above are only exemplary measures, and the actual measures are not limited to this. This application only makes an exemplary description and is not a restrictive list.

[0066] In an exemplary embodiment, the vehicle camera calibration prompt method may further include: when the change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment exceeds a preset threshold, detecting whether the change value of the proportion of the vehicle body part in the images captured by each camera at the later moment and the proportion of the vehicle body part in the images captured at the later moment exceeds a preset threshold. If it exceeds, a calibration prompt is given for the corresponding camera. Exemplarily, the situation of camera offset can also be detected according to the angle change of the vehicle part captured by the camera.

[0067] An exemplary embodiment of the present invention provides a vehicle camera calibration prompt device. Figure 4 It is a schematic structural diagram of a vehicle camera calibration prompt device in an exemplary embodiment of the present invention. As Figure 4 shown, the vehicle camera calibration prompt device includes:

[0068] A shooting module 40, configured to control at least three vehicle cameras to perform shooting synchronously at a preset time interval;

[0069] A judgment module 42, configured to judge whether the change value of the relative position between the images captured by the third camera and any one of the two cameras at a later moment and the relative position between the images captured at a previous moment exceeds the preset threshold when it is detected that the change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment exceeds the preset threshold;

[0070] A prompt module 44, configured to give a calibration prompt to the one camera of the two cameras when the judgment result is yes, and give a calibration prompt to the other camera of the two cameras when the judgment result is no.

[0071] The specific details of each module / unit in the above device have been described in detail in the corresponding method part, and will not be repeated here. It should be noted that although several modules or units of a device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present invention, the features and functions of the two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0072] In addition to the above methods and devices, an embodiment of the present invention can also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the methods according to various embodiments of the present invention described in the above "exemplary method" part of this specification.

[0073] The computer program product can be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present invention. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as C language or similar programming languages. The program code can be executed completely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or completely on a remote computing device or server.

[0074] Another embodiment of the present invention provides an electronic device that can be used to execute all or part of the steps of the method described in this exemplary embodiment. The device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the methods according to various embodiments of the present invention described in the above "exemplary method" of this specification.

[0075] Another embodiment of the present invention provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are run by a processor, the processor is caused to execute the steps of the methods according to various embodiments of the present invention described in the above "exemplary method" of this specification.

[0076] The computer-readable storage medium may employ any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0077] The basic principles of the present invention have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present invention. In addition, the above-disclosed specific details are only for the purposes of illustration and easy understanding, rather than limitations, and the above details do not limit the present invention to necessarily adopt the above specific details for implementation.

[0078] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present invention are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "having," etc. are open-ended terms that mean "including but not limited to" and can be used interchangeably with each other. The word "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0079] After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed by the present invention. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present invention are pointed out by the following claims.

[0080] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A method for calibrating a vehicle camera and giving a calibration prompt, characterized in that, it comprises the following steps: Controlling at least three vehicle cameras to take pictures synchronously at a preset time interval; When it is detected that the change value of the relative position between the images taken by any two cameras at the subsequent moment and the relative position between the images taken at the previous moment exceeds a preset threshold, determining whether the change value of the relative position between the image taken by the third camera and either of the two cameras at the subsequent moment and the relative position between the images taken at the previous moment exceeds the preset threshold; When the judgment result is yes, giving a calibration prompt to either of the two cameras, and when the judgment result is no, giving a calibration prompt to the other of the two cameras.

2. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 1, characterized in that, detecting the change value of the relative position between the images taken by any two cameras at the subsequent moment and the relative position between the images taken at the previous moment includes: When it is recognized that there is an overlapping area between the images taken by any two cameras, detecting the change value of the area of the overlapping area between the images taken by the two cameras at the subsequent moment and the area of the overlapping area between the images taken at the previous moment.

3. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 1, characterized in that, detecting the change value of the relative position between the images taken by any two cameras at the subsequent moment and the relative position between the images taken at the previous moment includes: When it is recognized that there is the same object in the images taken by any two cameras, detecting the change value of the ratio of the object in the two images taken at the subsequent moment and the ratio of the object in the two images taken at the previous moment.

4. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 2, characterized in that, giving a calibration prompt to either of the two cameras when the judgment result is yes includes: If the judgment result is yes, when it is detected that the change value of the relative position between the images taken by the fourth camera and the third camera at the subsequent moment and the relative position between the images taken at the previous moment is within the preset threshold, giving a calibration prompt to either of the two cameras.

5. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 1, characterized in that, giving a calibration prompt to the other of the two cameras when the judgment result is no includes: If the judgment result is no, when it is detected that the change value of the relative position between the images taken by the fourth camera and the third camera at the subsequent moment and the relative position between the images taken at the previous moment is within the preset threshold, giving a calibration prompt to the other of the two cameras.

6. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 1, characterized in that, giving a calibration prompt to the camera includes: Sending a calibration prompt signal to the vehicle control system so that the vehicle control system calibrates the camera according to the calibration prompt signal.

7. The method for calibrating a vehicle camera and giving a calibration prompt according to claim 1, characterized in that, The calibration prompt for the camera includes: Sending a calibration prompt signal to the vehicle driver and passenger, and sending a parking control signal to the vehicle control system.

8. The vehicle camera calibration prompt method according to claim 1, wherein, The calibration prompt for any one of the two cameras when the judgment result is yes includes: Detecting whether the change value of the proportion of the vehicle body part in the image captured by any one of the cameras at a later moment and the proportion of the vehicle body part in the image captured at a previous moment exceeds the preset threshold; If the detection result is yes, a calibration prompt is given for any one of the cameras.

9. The vehicle camera calibration prompt method according to any one of claims 1-7, wherein, The calibration prompt for the other camera of the two cameras in the case where the judgment result is no includes: Detecting whether the change value of the proportion of the vehicle body part in the image captured by the other camera at a later moment and the proportion of the vehicle body part in the image captured at a previous moment exceeds the preset threshold; If the detection result is yes, a calibration prompt is given for the other camera.

10. A vehicle camera calibration prompt device, wherein, It includes: A shooting module for controlling at least three vehicle cameras to shoot synchronously at preset time intervals; A judgment module for judging whether the change value of the relative position between the images captured by the third camera and any one of the two cameras at a later moment and the relative position between the images captured at a previous moment exceeds the preset threshold when it is detected that the change value of the relative position between the images captured by any two cameras at a later moment and the relative position between the images captured at a previous moment exceeds the preset threshold; A prompt module for giving a calibration prompt for any one of the two cameras when the judgment result is yes, and giving a calibration prompt for the other camera of the two cameras when the judgment result is no.

11. An electronic device, wherein, It includes: At least one processor; And a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle camera calibration prompt method according to any one of claims 1-9.

12. A computer-readable storage medium storing a computer program, wherein, The computer program realizes the vehicle camera calibration prompt method according to any one of claims 1-9 when executed by a processor.

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