Method and device for adjusting acquisition device parameters, and vehicle

Abstract

The application discloses a kind of collection equipment parameter adjustment method, device and vehicle, it is related to the field of automatic driving.The method comprises: obtaining the multiple environmental images collected by multiple collection equipment installed on the vehicle at the same time, wherein the multiple collection equipment is arranged at different positions of the vehicle;Merge the brightness statistical data in the multiple environmental images to obtain the merged brightness information, wherein the brightness statistical data is used to represent the data obtained by statistically analyzing the brightness information in the environmental image;Compensate the preset brightness information based on the merged brightness information to obtain the target brightness information;Determine whether to adjust the exposure parameter of the multiple collection equipment based on the target brightness information and the merged brightness information.The present application solves the technical problem of low adjustment efficiency of the brightness difference of the related art graphics.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method, device and vehicle for adjusting acquisition equipment parameters. Background Art

[0002] During autonomous driving, a vehicle uses multiple cameras mounted on the vehicle to capture road conditions in different directions, and then uses post-processing to display a synthesized image. However, since the cameras in each direction are in different environments, they often calculate different exposure parameters. Existing related technologies mainly process the brightness again after post-synthesis to finally obtain a stitched image. This processing method has low processing efficiency and more obvious brightness differences.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a method, apparatus, and vehicle for adjusting acquisition device parameters, to at least address the technical problem of low efficiency in adjusting brightness differences of graphics in related technologies.

[0005] According to one aspect of an embodiment of the present invention, a method for adjusting acquisition device parameters is provided, comprising acquiring multiple environmental images acquired at the same time by multiple acquisition devices installed on a vehicle, wherein the multiple acquisition devices are arranged at different positions of the vehicle; merging brightness statistical data in the multiple environmental images to obtain merged brightness information, wherein the brightness statistical data is used to represent data obtained by statistically analyzing the brightness information in the environmental images; compensating for preset brightness information based on the merged brightness information to obtain target brightness information; and determining whether to adjust exposure parameters of the multiple acquisition devices based on the target brightness information and the merged brightness information.

[0006] Optionally, determining whether to adjust exposure parameters of multiple acquisition devices based on target brightness information and merged brightness information includes: obtaining a brightness difference between the target brightness information and the merged brightness information; in response to the brightness difference between the target brightness information and the merged brightness information being within a preset range, prohibiting adjustment of the exposure parameters of multiple acquisition devices; in response to the brightness difference between the target brightness information and the merged brightness information being not within the preset range, adjusting the exposure parameters of multiple acquisition devices.

[0007] Optionally, brightness statistical data in multiple environmental images are merged to obtain merged brightness information, including: obtaining multiple initial brightness statistical data corresponding to the multiple environmental images and the current driving state of the vehicle; determining a first brightness statistical data among the multiple initial brightness statistical data based on the current driving state, wherein the first brightness information is a brightness statistical data corresponding to the environmental image collected by a target collection device among multiple collection devices, and the target collection device is used to collect the environmental image corresponding to the current driving state; determining a target weight corresponding to the first brightness statistical data based on the current driving state, the target collection device and a preset weight table, wherein the preset weight table is used to represent the correspondence between different collection devices and weights under different driving states; and merging the brightness statistical data in the multiple environmental images based on the target weight to obtain merged brightness information.

[0008] Optionally, brightness statistics in multiple environmental images are merged based on target weights to obtain merged brightness information, including: superimposing first brightness statistics based on target weights to obtain superimposed brightness statistics; determining mean brightness statistics of superimposed brightness statistics and second brightness statistics, wherein the second brightness statistics are other brightness statistics in multiple initial brightness statistics except the first brightness statistics; and determining the mean brightness statistics as the merged brightness information collected by multiple collection devices.

[0009] Optionally, compensating the preset brightness information based on the combined brightness information to obtain target brightness information includes: acquiring ambient brightness information around the vehicle; determining brightness compensation information based on the combined brightness information; and compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain target brightness information.

[0010] Optionally, determining brightness compensation information based on the merged brightness information includes: determining a brightness histogram based on the merged brightness information, wherein the brightness histogram is used to represent the brightness difference of the environmental image; determining whether the brightness difference of the vehicle's surrounding environment is greater than a preset threshold based on the brightness histogram; in response to the brightness difference being greater than the preset threshold, determining a first ratio and a second ratio, wherein the first ratio is used to represent the proportion of brightness blocks with brightness greater than the first threshold in the brightness information, and the second ratio is used to represent the proportion of brightness blocks with brightness less than the second threshold in the brightness information; determining brightness compensation information based on the first ratio and the second ratio.

[0011] Optionally, the brightness compensation information includes a first compensation brightness and / or a second compensation brightness, and the brightness compensation information is determined based on the first ratio and the second ratio, including: in response to the first ratio being greater than the first preset ratio, determining the first compensation brightness corresponding to the first ratio as the brightness compensation information; or, in response to the second ratio being less than the second preset ratio, determining the second compensation brightness corresponding to the second ratio as the brightness compensation information; or, in response to the first ratio being greater than the first preset ratio and the second ratio being less than the second preset ratio, determining the first compensation brightness and the second compensation brightness as the brightness compensation information.

[0012] According to another aspect of an embodiment of the present invention, a device for adjusting acquisition device parameters is also provided, including: an acquisition module for acquiring environmental images acquired by multiple acquisition devices installed on a vehicle at the same time, wherein the multiple acquisition devices are arranged at different positions of the vehicle; a merging module for determining brightness compensation information based on merged brightness information of the environmental images; a compensation module for compensating preset brightness information based on the brightness compensation information to obtain target brightness information; and a determination module for determining whether to adjust exposure parameters of the multiple acquisition devices based on the target brightness information and the merged brightness information.

[0013] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising: 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 any of the above methods.

[0014] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium includes a stored program, wherein when the program is running, the processor of the device where the program is located is controlled to execute any of the above-mentioned methods for adjusting the acquisition device parameters.

[0015] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for adjusting the parameters of the acquisition device when running.

[0016] In an embodiment of the present invention, multiple environmental images collected at the same time by multiple acquisition devices installed on a vehicle are acquired, and the brightness statistical data in the multiple environmental images are merged to obtain merged brightness information. The preset brightness information is compensated based on the merged brightness information to obtain target brightness information. Finally, based on the target brightness information and the merged brightness information, it is determined whether to adjust the exposure parameters of the multiple acquisition devices. It should be noted that the multiple acquisition devices are set at different positions of the vehicle, and the environmental images are collected at the same time by cameras at different positions of the vehicle to obtain merged brightness information of the environmental images. Finally, it is determined whether to adjust the exposure based on the merged brightness information and the brightness information to be achieved, thereby achieving the purpose of avoiding brightness differences caused by time differences and balancing brightness, thereby achieving the technical effect of improving the efficiency of adjusting brightness differences, and further solving the technical problem of low efficiency in adjusting brightness differences of graphics in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of an optional method for adjusting acquisition device parameters according to an embodiment of the present invention;

[0019] Figure 2 is a flow chart of an optional method for adjusting acquisition device parameters according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of original 4-way data according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a spliced ​​vehicle moving forward according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a spliced ​​vehicle traveling straight according to an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of a spliced ​​vehicle reversing according to an embodiment of the present invention;

[0024] Figure 7 2 is a schematic diagram of a device for adjusting acquisition device parameters according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] According to an embodiment of the present invention, a method for adjusting the parameters of an acquisition device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] Figure 1 FIG. 1 is a flow chart of an optional method for adjusting acquisition device parameters according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0030] Step S102 : acquiring multiple environment images collected at the same time by multiple collection devices installed on the vehicle, wherein the multiple collection devices are arranged at different positions of the vehicle.

[0031] Among them, the acquisition device can be any device that can perform image acquisition, such as a camera, a display with a camera, etc. The environmental image can be an image of the surrounding environment of the vehicle during driving, which can be used to determine whether there are other vehicles, pedestrians and other moving objects around the vehicle. The different positions of the vehicle can be positions on the vehicle facing different directions, such as the front windshield, rear windshield, left door, right door, etc.

[0032] It can be understood that obtaining environmental images collected by multiple acquisition devices installed on the vehicle at the same time avoids the brightness differences of multiple acquisition devices caused by time difference, which can greatly improve the stitching effect of the images in the later stage.

[0033] The above-mentioned multiple acquisition devices are set at different positions of the vehicle, and can simultaneously obtain image information in different directions during the vehicle's driving process, thereby improving the safety of autonomous driving. In addition, they can achieve brightness balance in the exposure stage and share the system's original exposure algorithm.

[0034] Step S104 : merging brightness statistical data in a plurality of environmental images to obtain merged brightness information, wherein the brightness statistical data is used to represent data obtained by performing statistics on the brightness information in the environmental images.

[0035] The merging of brightness information may be understood as merging brightness information of environmental images captured by multiple capture devices.

[0036] Specifically, merging the brightness statistical data in multiple environmental images can be understood as treating the environmental images collected by collection devices in various directions as one image, so as to achieve the effect of balancing the brightness.

[0037] Step S106 : compensating the preset brightness information based on the combined brightness information to obtain target brightness information.

[0038] The preset brightness information may be brightness information that is preset in advance and is desired to be achieved, and the target brightness information may be brightness information that is actually achieved after compensating the preset brightness information.

[0039] It is understandable that compensating for the preset brightness information may be to compensate for the brightness to varying degrees when a large brightness difference occurs, thereby achieving the purpose of dynamically adjusting the brightness.

[0040] In an optional embodiment, the preset brightness information is compensated based on the brightness compensation information, and the compensation can be performed according to the proportion of the brightness blocks. For example, if the extremely low brightness exceeds 10%, a compensation of 10% is given to the target brightness. If the proportion of the brightness blocks with extremely high brightness exceeds 10%, a compensation of 90% is given to the target brightness, thereby achieving the purpose of dynamically adjusting the target brightness.

[0041] It should be noted that the target brightness information may also be adjusted according to the ambient brightness. For example, the higher the ambient brightness value, the higher the target brightness value.

[0042] Step S108 : determining whether to adjust exposure parameters of the multiple acquisition devices based on the target brightness information and the combined brightness information.

[0043] The exposure parameters may include but are not limited to: the aperture, shutter, and shutter speed of the camera.

[0044] In an optional embodiment, whether to adjust the exposure parameters of multiple acquisition devices is determined based on the target brightness information and the combined brightness information. By comparing the target brightness information with the combined brightness information, if the brightness is within a brightness tolerance range, the current exposure is considered appropriate, and real-time monitoring continues without adjusting the exposure parameters. If the brightness exceeds the brightness tolerance range, the exposure parameters need to be adjusted. The brightness tolerance range can be understood as the range of brightness information within which the current exposure is considered appropriate.

[0045] Through the above steps, multiple environmental images collected at the same time by multiple acquisition devices installed on the vehicle are obtained, and the brightness statistical data in the multiple environmental images are merged to obtain merged brightness information. The preset brightness information is compensated based on the merged brightness information to obtain target brightness information. Finally, based on the target brightness information and the merged brightness information, it is determined whether to adjust the exposure parameters of the multiple acquisition devices. It should be noted that multiple acquisition devices are set at different positions of the vehicle, and the environmental images are collected at the same time by cameras at different positions of the vehicle to obtain merged brightness information of the environmental images. Finally, it is determined whether to adjust the exposure based on the merged brightness information and the brightness information to be achieved, thereby achieving the purpose of avoiding brightness differences caused by time differences and balancing brightness, thereby achieving the technical effect of improving the efficiency of adjusting brightness differences, and thus solving the technical problem of low efficiency of adjusting brightness differences of graphics in related technologies.

[0046] Optionally, determining whether to adjust exposure parameters of multiple acquisition devices based on target brightness information and merged brightness information includes: obtaining a brightness difference between the target brightness information and the merged brightness information; in response to the brightness difference between the target brightness information and the merged brightness information being within a preset range, prohibiting adjustment of the exposure parameters of multiple acquisition devices; in response to the brightness difference between the target brightness information and the merged brightness information being not within the preset range, adjusting the exposure parameters of multiple acquisition devices.

[0047] Among them, the brightness difference can be represented by a value, that is, the brightness difference can be represented by a brightness difference value. The brightness difference value can be the difference between the exposure value corresponding to the target brightness information and the combined brightness information, as well as any specific method of determining the brightness difference value that can characterize the difference. The preset range can be the range of brightness differences that are considered appropriate for the current exposure.

[0048] In an optional embodiment, the brightness difference between the target brightness information and the merged brightness information can be obtained by calculating the difference between the exposure values ​​corresponding to the target brightness information and the merged brightness information, and the exposure adjustment control device can be used to prohibit adjusting the exposure parameters of multiple acquisition devices or adjust the exposure parameters of multiple acquisition devices.

[0049] It can be understood that when the brightness difference between the target brightness information and the combined brightness information is within the preset range, it means that the current exposure is relatively appropriate. At this time, there is no need to adjust the exposure parameters, and real-time monitoring should continue to prevent changes in ambient brightness. If the brightness difference between the target brightness information and the combined brightness information is not within the preset range, it means that the current exposure is not appropriate, and the exposure parameters of multiple acquisition devices need to be adjusted until the exposure parameters are within the preset range.

[0050] Optionally, brightness statistical data in multiple environmental images are merged to obtain merged brightness information, including: obtaining multiple initial brightness statistical data corresponding to the multiple environmental images and the current driving state of the vehicle; determining a first brightness statistical data among the multiple initial brightness statistical data based on the current driving state, wherein the first brightness statistical data is a brightness statistical data corresponding to the environmental image collected by a target collection device among multiple collection devices, and the target collection device is used to collect the environmental image corresponding to the current driving state; determining a target weight corresponding to the first brightness statistical data based on the current driving state, the target collection device and a preset weight table, wherein the preset weight table is used to represent the correspondence between different collection devices and weights under different driving states; and merging the brightness statistical data in the multiple environmental images based on the target weight to obtain merged brightness information.

[0051] Among them, the initial brightness statistical data can be understood as the brightness statistical data of the unprocessed environmental image collected by multiple collection devices installed on the vehicle. The current driving status may include but is not limited to: going straight, turning left, turning right, and reversing. The first brightness statistical data can be understood as the brightness statistical data collected by the collection device in the direction corresponding to the driving status of the vehicle. The target collection device can be understood as the collection device in the direction corresponding to the driving status of the vehicle.

[0052] In an optional embodiment, multiple initial brightness statistical data collected by multiple collection devices at the same time can be obtained, and the target weight corresponding to the first brightness statistical data can be determined based on the current driving status, target collection device and preset weight table by means of parameter lookup table.

[0053] Specifically, the first brightness statistical data among multiple initial brightness statistical data is determined based on the current driving state. For example, when the vehicle is driving straight, the front and rear fields of view are generally more important, and the first brightness statistical data can be the brightness statistical data collected by the collection devices on the front windshield and the rear windshield. When the vehicle is turning right, the front and right fields of view are generally more important, and the first brightness statistical data can be the brightness statistical data collected by the collection devices on the front windshield and the right door. When the vehicle is turning left, the front and left fields of view are generally more important, and the first brightness statistical data can be the brightness statistical data collected by the collection devices on the front windshield and the left door. When the vehicle is reversing, the rear field of view is generally more important, and the first brightness statistical data can be the brightness statistical data collected by the collection devices on the rear windshield.

[0054] The above-mentioned target weight corresponding to the first brightness statistical data is determined based on the current driving state, target collection device and preset weight table. If the vehicle's driving state is straight, the weights of the collection devices on the front windshield and the rear windshield can be set higher. If the vehicle's driving state is turning right, the weights of the collection devices on the front windshield and the right door can be set higher. If the vehicle's driving state is turning left, the weights of the collection devices on the front windshield and the left door can be set higher. If the vehicle's driving state is reversing, the weight of the collection device on the rear windshield can be set higher.

[0055] It should be noted that the above-mentioned processing of multiple initial brightness statistics based on target weights to obtain merged brightness information, for example, requires obtaining environmental images from four directions. This can be done by obtaining brightness statistics from the brightness value statistics module for each of the four channels at the same time, or by block information. For example, if each channel's brightness information consists of 32*16 blocks, then brightness statistics for 4*32*16 blocks will be obtained. To maintain the original exposure strategy, this statistical information can be converted to the same block division as before, that is, in each channel, the average is calculated using 2*2 blocks, ultimately obtaining brightness statistics for 32*16 blocks, or directly using 4*32*16 data blocks for calculation.

[0056] In an optional embodiment, the touch screen of the vehicle computer can also allow the user to click on a camera at low speed to increase the weight of the camera on the corresponding road, thereby adjusting the brightness of the road to an optimal value.

[0057] Optionally, the brightness statistics in multiple environmental images are processed based on the target weight to obtain merged brightness information, including: superimposing the first brightness statistics based on the target weight to obtain superimposed brightness statistics; determining the mean brightness statistics of the superimposed brightness statistics and the second brightness statistics, wherein the second brightness statistics are other brightness statistics in multiple initial brightness statistics except the first brightness statistics; and determining the mean brightness statistics as the merged brightness information collected by multiple collection devices.

[0058] The superimposed brightness statistical data may be brightness statistical data collected by a target collection device combined with a target weight, and the mean brightness statistical data may be brightness statistical data obtained by averaging the superimposed brightness statistical data and the second brightness statistical data.

[0059] It can be understood that by calculating the average brightness value of the image with superimposed weights according to the pre-calibrated weight table, the current brightness value finally obtained is a brightness value that is more suitable for the current driving state of the vehicle.

[0060] Optionally, compensating the preset brightness information based on the combined brightness information to obtain target brightness information includes: acquiring ambient brightness information around the vehicle; determining brightness compensation information based on the combined brightness information; and compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain target brightness information.

[0061] The ambient brightness information may be understood as the ambient brightness value of the surrounding area where the vehicle is located.

[0062] In an optional embodiment, the ambient brightness information around the vehicle may be acquired by a brightness sensor installed on the surface of the vehicle.

[0063] Specifically, the brightness compensation information is determined based on the merged brightness information, and the hardware statistics module may output a histogram based on block units, or output a histogram based on pixels, or output a histogram based on blocks and pixels. Users may select different strategies according to personal needs. In an embodiment of the present invention, taking the output of a histogram based on block units as an example, based on the block information of multiple image acquisition devices, all brightness blocks are counted to form a block-based brightness histogram. The histogram information can be used to roughly determine whether there is a large difference in brightness in the surrounding environment, what proportion of brightness blocks with extremely high brightness account for, and what proportion of brightness blocks with extremely low brightness account for, so as to serve as a source of compensation for the exposure target brightness value.

[0064] It can be understood that by compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain the target brightness information, the target brightness information that is more suitable for the current ambient brightness can be obtained, thereby improving the efficiency of vehicle autonomous driving.

[0065] Optionally, determining brightness compensation information based on the merged brightness information includes: determining a brightness histogram based on the merged brightness information, wherein the brightness histogram is used to represent the brightness difference of the environmental image; determining whether the brightness difference of the vehicle's surrounding environment is greater than a preset threshold based on the brightness histogram; in response to the brightness difference being greater than the preset threshold, determining a first ratio and a second ratio, wherein the first ratio is used to represent the proportion of brightness blocks with brightness greater than the first threshold in the brightness information, and the second ratio is used to represent the proportion of brightness blocks with brightness less than the second threshold in the brightness information; determining brightness compensation information based on the first ratio and the second ratio.

[0066] Among them, the preset threshold can be understood as the maximum brightness difference value at which the brightness difference of the surrounding environment of the current vehicle is considered to be small, the first threshold can be understood as the minimum brightness value at which the brightness block is considered to be extremely high, and the second threshold can be understood as the maximum brightness value at which the brightness block is considered to be extremely low.

[0067] It should be noted that the brightness histogram can be calculated based on the combined brightness information, or the combined brightness information can be directly converted into a brightness histogram.

[0068] In an optional embodiment, a brightness histogram corresponding to the combined brightness information may be drawn using a C Programming Language (C language for short).

[0069] It can be understood that by counting all the brightness blocks and forming a block-based brightness histogram, the histogram information can be used to roughly determine whether there are large differences in brightness in the surrounding environment, and determine the proportion of brightness blocks with extremely high brightness and the proportion of brightness blocks with extremely low brightness. This can be used as a source of compensation for the exposure target brightness value.

[0070] Optionally, the brightness compensation information includes a first compensation brightness and / or a second compensation brightness, and the brightness compensation information is determined based on the first ratio and the second ratio, including: in response to the first ratio being greater than the first preset ratio, determining the first compensation brightness corresponding to the first ratio as the brightness compensation information; or, in response to the second ratio being less than the second preset ratio, determining the second compensation brightness corresponding to the second ratio as the brightness compensation information; or, in response to the first ratio being greater than the first preset ratio and the second ratio being less than the second preset ratio, determining the first compensation brightness and the second compensation brightness as the brightness compensation information.

[0071] Among them, the first preset ratio can be understood as the pre-set ratio of extremely high brightness blocks that need to be compensated, the first compensation brightness can be understood as the brightness that needs to be compensated corresponding to the first ratio, the second preset ratio can be understood as the pre-set ratio of extremely low brightness blocks that need to be compensated, and the second compensation brightness can be understood as the brightness that needs to be compensated corresponding to the second ratio.

[0072] Specifically, by determining the brightness compensation information based on the first ratio and the second ratio, the purpose of balancing the brightness and dynamically adjusting the target brightness can be achieved. For example, if the brightness is extremely low exceeding 10%, a compensation of 10% is given to the target brightness; if the ratio of the brightness block with extremely high brightness exceeds 10%, a compensation of 90% is given to the target brightness.

[0073] Figure 2 FIG. 1 is a flow chart of an optional method for adjusting acquisition device parameters according to an embodiment of the present invention. Figure 2 As shown, the specific process includes: step S20, an interrupt signal of the statistical module, step S21, obtaining 32*16 blocks of brightness value statistical information of channel 0, channel 1, channel 2, and channel 3 respectively, and averaging them into 8*4 blocks respectively, step S22, drawing a histogram, and calculating the target brightness information, step S23, synthesizing the 4-channel statistical data into a statistical table of 32*16 blocks, step S24, selecting the corresponding 32*16 weight table according to the driving state of the vehicle, whether it is straight, turning left, turning right, or reversing, or the camera situation clicked on the touch screen, step S25, calculating and obtaining the merged brightness information, step S26, judging whether the brightness difference between the target brightness information and the merged brightness information is within a preset range, step S27, if the brightness difference is within the preset range, the exposure is appropriate, and the next frame is detected, step S28, if the brightness difference is not within the preset range, the exposure parameters of the next frame are calculated, and the exposure parameters are set to the sensor or register, step S29, waiting for the next frame to arrive, and then repeating the above steps.

[0074] Figure 3 is a schematic diagram of an original 4-way data according to an embodiment of the present invention, such as Figure 3 As shown in the figure, the four cameras collect images of the front, rear, left and right environments respectively. Figure 4 is a schematic diagram of a spliced ​​vehicle moving forward according to an embodiment of the present invention, such as Figure 4 As shown, when the vehicle moves forward, it is necessary to collect the environment image in front of the vehicle. Figure 5 is a schematic diagram of a spliced ​​vehicle traveling straight according to an embodiment of the present invention, such as Figure 5 As shown in Figure 2, when the vehicle is moving straight, it is necessary to collect environmental images in front of and behind the vehicle. Figure 6is a schematic diagram of a spliced ​​vehicle reversing according to an embodiment of the present invention, such as Figure 6 As shown, when the vehicle is reversing, it is necessary to collect the environment image behind the vehicle.

[0075] Example 2

[0076] According to another aspect of an embodiment of the present invention, a device for adjusting acquisition device parameters is also provided. The device can execute the method for adjusting acquisition device parameters in the above-mentioned embodiment 1. The specific implementation scheme and application scenario in this embodiment are the same as those in the above-mentioned embodiment 1 and will not be repeated here.

[0077] Figure 7 is a schematic diagram of a device for adjusting acquisition device parameters according to an embodiment of the present invention, such as Figure 7 As shown, the device includes: an acquisition module 702, used to acquire multiple environmental images collected at the same time by multiple acquisition devices installed on a vehicle, wherein the multiple acquisition devices are set at different positions of the vehicle; a merging module 704, used to merge brightness statistical data in the multiple environmental images to obtain merged brightness information, wherein the brightness statistical data is used to represent data obtained by statistics of the brightness information in the environmental images; a compensation module 706, used to compensate for preset brightness information based on the merged brightness information to obtain target brightness information; and a determination module 708, used to determine whether to adjust the exposure parameters of the multiple acquisition devices based on the target brightness information and the merged brightness information.

[0078] The acquisition module 702 includes: a first acquisition unit, used to acquire multiple initial brightness statistical data corresponding to multiple environmental images and the current driving state of the vehicle; a first determination unit, used to determine the first brightness statistical data among the multiple initial brightness statistical data based on the current driving state, wherein the first brightness statistical data is the brightness statistical data corresponding to the environmental image collected by the target collection device among the multiple collection devices, and the target collection device is used to collect the environmental image corresponding to the current driving state; a weight determination unit, used to determine the target weight corresponding to the first brightness statistical data based on the current driving state, the target collection device and a preset weight table, wherein the preset weight table is used to represent the correspondence between different collection devices and weights under different driving states; an information merging unit, used to merge the brightness statistical data in multiple environmental images based on the target weight to obtain merged brightness information.

[0079] The information merging unit includes: a superposition subunit, used to superimpose the first brightness statistical data based on the target weight to obtain superimposed brightness statistical data; a first determination subunit, used to determine the mean brightness statistical data of the superimposed brightness statistical data and the second brightness statistical data, wherein the second brightness statistical data is other brightness statistical data in multiple initial brightness statistical data except the first brightness statistical data; a second determination subunit, used to determine that the mean brightness statistical data is the merged brightness information collected by multiple collection devices.

[0080] The merging module 704 includes: a histogram acquisition unit, used to determine a brightness histogram based on the merged brightness information, wherein the brightness histogram is used to represent the brightness difference of the environmental image; a brightness difference determination unit, used to determine whether the brightness difference of the vehicle's surrounding environment is greater than a preset threshold based on the brightness histogram; a ratio determination unit, used to determine a first ratio and a second ratio in response to the brightness difference being greater than the preset threshold, wherein the first ratio is used to represent the proportion of brightness blocks with brightness greater than the first threshold in the brightness information, and the second ratio is used to represent the proportion of brightness blocks with brightness less than the second threshold in the brightness information; a second determination unit, used to determine brightness compensation information based on the first ratio and the second ratio.

[0081] The information determination unit includes: a third determination subunit, used to determine, in response to the first ratio being greater than the first preset ratio, a first compensated brightness corresponding to the first ratio as brightness compensation information; a fourth determination subunit, used to determine, in response to the second ratio being less than the second preset ratio, a second compensated brightness corresponding to the second ratio as brightness compensation information; and a fifth determination subunit, used to determine, in response to the first ratio being greater than the first preset ratio and the second ratio being less than the second preset ratio, the first compensated brightness and the second compensated brightness as brightness compensation information.

[0082] The compensation module 706 includes: a second acquisition unit for acquiring ambient brightness information around the vehicle; a third determination unit for determining brightness compensation information based on the combined brightness information; and a compensation unit for compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain target brightness information.

[0083] Determination module 708 includes: a difference acquisition unit, used to obtain the brightness difference between the target brightness information and the combined brightness information; a prohibition unit, used to prohibit adjustment of exposure parameters of multiple acquisition devices in response to the brightness difference between the target brightness information and the combined brightness information being within a preset range; and a parameter adjustment unit, used to adjust the exposure parameters of multiple acquisition devices in response to the brightness difference between the target brightness information and the combined brightness information being outside the preset range.

[0084] Example 3

[0085] According to another aspect of an embodiment of the present invention, a vehicle is also provided, comprising: 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 any of the above methods.

[0086] Example 4

[0087] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, including a stored program, wherein when the program is run, the processor of the device where the program is located is controlled to execute any of the above-mentioned methods for adjusting acquisition device parameters.

[0088] Example 5

[0089] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for adjusting the parameters of the acquisition device when running.

[0090] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0091] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0093] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0094] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0095] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0096] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for adjusting acquisition equipment parameters, characterized in that: include: Acquire multiple environmental images collected at the same time by multiple collection devices installed on a vehicle, wherein the multiple collection devices are arranged at different positions of the vehicle; Merging brightness statistical data in the multiple environmental images to obtain combined brightness information, wherein the brightness statistical data is used to represent data obtained by statistically analyzing the brightness information in the environmental images, and the combined brightness information is used to perform brightness equalization on the multiple environmental images; Compensating preset brightness information based on the combined brightness information to obtain target brightness information; determining whether to adjust exposure parameters of the plurality of acquisition devices based on the target brightness information and the combined brightness information; Wherein, compensating the preset brightness information based on the merged brightness information to obtain target brightness information includes: obtaining ambient brightness information around the vehicle, wherein the ambient brightness information is positively correlated with the target brightness information; determining a brightness histogram based on the merged brightness information, wherein the brightness histogram is used to represent the brightness difference of the ambient image; determining whether the brightness difference of the ambient environment of the vehicle is greater than a preset threshold based on the brightness histogram; in response to the brightness difference being greater than the preset threshold, determining a first ratio and a second ratio, wherein the first ratio is used to represent the proportion of brightness blocks with brightness greater than the first threshold in the brightness information of the ambient image, and the second ratio is used to represent the proportion of brightness blocks with brightness less than the second threshold in the brightness information of the ambient image; determining brightness compensation information based on the first ratio and the second ratio; compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain the target brightness information.

2. The method according to claim 1, characterized in that Determining whether to adjust exposure parameters of the plurality of acquisition devices based on the target brightness information and the combined brightness information includes: Acquire a brightness difference between the target brightness information and the combined brightness information; In response to a brightness difference between the target brightness information and the combined brightness information being within a preset range, prohibiting adjustment of exposure parameters of the plurality of acquisition devices; In response to a brightness difference between the target brightness information and the combined brightness information being outside the preset range, exposure parameters of the multiple acquisition devices are adjusted.

3. The method according to claim 1, characterized in that Merging the brightness statistical data in the multiple environment images to obtain merged brightness information includes: Acquire a plurality of initial brightness statistical data corresponding to the plurality of environmental images and a current driving state of the vehicle; Determining, based on the current driving state, a first brightness statistical data among the multiple initial brightness statistical data, wherein the first brightness statistical data is brightness statistical data corresponding to an environmental image captured by a target capture device among the multiple capture devices, the target capture device being used to capture an environmental image corresponding to the current driving state; determining a target weight corresponding to the first brightness statistical data based on the current driving state, the target collection device, and a preset weight table, wherein the preset weight table is used to represent the correspondence between different collection devices and weights under different driving states; The brightness statistical data in the multiple environment images are merged based on the target weight to obtain the merged brightness information.

4. The method according to claim 3, characterized in that Merging the brightness statistical data in the multiple environment images based on the target weight to obtain the merged brightness information includes: superimposing the first brightness statistical data based on the target weight to obtain superimposed brightness statistical data; determining average brightness statistics of the superimposed brightness statistics and second brightness statistics, wherein the second brightness statistics are brightness statistics other than the first brightness statistics in the plurality of initial brightness statistics; The mean brightness statistical data is determined to be the combined brightness information collected by the multiple collection devices.

5. The method according to claim 1, wherein The brightness compensation information includes a first compensation brightness and / or a second compensation brightness, and determining the brightness compensation information based on the first ratio and the second ratio includes: In response to the first ratio being greater than a first preset ratio, determining a first compensated brightness corresponding to the first ratio as the brightness compensation information; or, In response to the second ratio being smaller than a second preset ratio, determining a second compensated brightness corresponding to the second ratio as the brightness compensation information; or, In response to the first ratio being greater than the first preset ratio and the second ratio being less than the second preset ratio, the first compensated brightness and the second compensated brightness are determined as the brightness compensation information.

6. A device for adjusting acquisition equipment parameters, characterized in that: include: an acquisition module, configured to acquire a plurality of environment images acquired at the same time by a plurality of acquisition devices installed on a vehicle, wherein the plurality of acquisition devices are arranged at different positions on the vehicle; a merging module, configured to merge the brightness statistical data in the multiple environmental images to obtain merged brightness information, wherein the brightness statistical data is used to represent data obtained by statistically analyzing the brightness information in the environmental images, and the merged brightness information is used to perform brightness equalization on the multiple environmental images; a compensation module, configured to compensate the preset brightness information based on the combined brightness information to obtain target brightness information; a determination module, configured to determine whether to adjust exposure parameters of the plurality of acquisition devices based on the target brightness information and the combined brightness information; Wherein, the compensation module is also used to compensate the preset brightness information based on the merged brightness information to obtain target brightness information through the following steps: obtaining the ambient brightness information around the vehicle, wherein the ambient brightness information is positively correlated with the target brightness information; determining a brightness histogram based on the merged brightness information, wherein the brightness histogram is used to represent the brightness difference of the ambient image; determining whether the brightness difference of the ambient environment of the vehicle is greater than a preset threshold based on the brightness histogram; in response to the brightness difference being greater than the preset threshold, determining a first ratio and a second ratio, wherein the first ratio is used to represent the proportion of brightness blocks with brightness greater than the first threshold in the brightness information in the ambient image, and the second ratio is used to represent the proportion of brightness blocks with brightness less than the second threshold in the brightness information in the ambient image; determining brightness compensation information based on the first ratio and the second ratio; compensating the preset brightness information based on the brightness compensation information and the ambient brightness information to obtain the target brightness information.

7. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the processor of the device where the program is located is controlled to execute the method for adjusting the parameters of the acquisition device according to any one of claims 1 to 5.

8. A vehicle, characterized in that: include: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the method for adjusting acquisition device parameters as described in any one of claims 1 to 5.

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