Camera control method, device, equipment and medium based on turning angle

Abstract

This application provides a camera control method, apparatus, device, and medium based on steering angle. The method includes: acquiring a first vehicle heading direction and a first lens direction of a camera located on the vehicle; determining a steering angle based on the first lens direction and the first vehicle heading direction; comparing the steering angle with a first preset angle threshold to obtain a first comparison result; and controlling the camera to rotate horizontally from the first lens direction to a second lens direction based on the first comparison result. The second lens direction is the same as the second vehicle heading direction, which is the vehicle heading direction at the end of the turn. By controlling the camera to rotate to the vehicle heading direction at the end of the turn with a delay, the camera turns with the vehicle and then turns again, capturing the driver's blind spot during the turn, thus improving the user's driving experience.

Description

Technical Field

[0001] This application relates to the field of vehicle blind spot assist display technology, specifically to a camera control method, device, equipment, and medium based on steering angle. Background Technology

[0002] Cameras have a wide range of applications in automobiles, such as providing real-time image assistance when reversing, expanding the field of vision at intersections, and monitoring blind spots when the vehicle is turning. This information is transmitted to the Human-Machine Interface (HMI) on the center console to display environmental information, allowing the driver to understand the road conditions in front of and behind the vehicle and avoid collisions. Cameras monitor whether there are scratches during the vehicle's turn, whether there are potential movement trajectories of people or objects, and whether the vehicle's trajectory overlaps with the surrounding environment. Blind spots exist during turning that are difficult for the driver to observe, and cameras are needed to monitor these blind spots.

[0003] Currently, most cameras monitoring blind spots are either fixed or manually operated. If the camera angle needs adjustment, the driver must manually adjust it. When the vehicle turns left or right, the camera lens always follows the direction of the vehicle's front, meaning the central control screen doesn't display the visual focus the driver cares about. Furthermore, if the camera's viewing angle is always the same as the direction of the vehicle's front, the lens may suddenly turn during turns, potentially causing dizziness and affecting the driving experience. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, this application provides a camera control method, device, equipment and medium based on steering angle to solve the technical problem in the related art that the camera does not capture the driver's blind spot when it turns synchronously with the vehicle, thus affecting the driving experience.

[0005] In a first aspect, this application provides a camera control method based on a steering angle, the method comprising: acquiring a first vehicle heading direction and a first lens direction of a camera located on the vehicle, wherein the first lens direction is the direction of the camera before the vehicle turns, and the first vehicle heading direction is the vehicle heading direction during the vehicle turning; determining a steering angle based on the first lens direction and the first vehicle heading direction; comparing the steering angle with a first preset angle threshold to obtain a first comparison result; and controlling the camera to rotate horizontally from the first lens direction to a second lens direction based on the first comparison result, wherein the second lens direction is the same as the second vehicle heading direction, and the second vehicle heading direction is the vehicle heading direction at the end of the vehicle turning.

[0006] In one embodiment of this application, after obtaining the first comparison result, the process includes: if the first comparison result is that the steering angle is less than the first preset angle threshold, then it is determined that the vehicle has not turned; if the first comparison result is that the steering angle is greater than or equal to the first preset angle threshold, then it is determined that the vehicle has turned.

[0007] In one embodiment of this application, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result includes: if the first comparison result indicates that the steering angle is greater than or equal to the first preset angle threshold, then determining the vehicle state, which includes a stationary state and a moving state; when the vehicle state is the stationary state, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on a first preset speed; when the vehicle state is the moving state, determining the vehicle speed, and controlling the camera to rotate horizontally from the first lens direction to the second lens direction according to the vehicle speed.

[0008] In one embodiment of this application, determining the vehicle speed to control the camera to rotate horizontally from the first lens direction to the second lens direction based on the vehicle speed includes: when it is determined that the vehicle speed is greater than a preset vehicle speed threshold, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on a second preset speed; when it is determined that the vehicle speed is less than or equal to the preset vehicle speed threshold, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on a third preset speed.

[0009] In one embodiment of this application, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result further includes: after determining that the vehicle has turned, performing a second comparison between the turning angle and a second preset angle threshold to obtain a second comparison result; if the second comparison result is that the turning angle is greater than the second preset angle threshold, then controlling the camera to rotate horizontally from the first lens direction to the third lens direction corresponding to the second preset angle threshold at a fourth preset speed; and controlling the camera to rotate horizontally from the third lens direction to the second lens direction based on the first preset speed, the second preset speed, or the third preset speed.

[0010] In one embodiment of this application, after controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: determining the vertical height of the camera based on the second lens direction; if the camera is in a low position, then controlling the camera to be vertically raised from the second lens direction to the fourth lens direction at a fifth preset speed.

[0011] In one embodiment of this application, after controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: dynamically displaying the photographic images captured during the process of the camera rotating horizontally from the first lens direction to the second lens direction on the central control screen.

[0012] Secondly, embodiments of this application provide a central control camera control device based on a steering angle, comprising: an acquisition module for acquiring a first vehicle heading direction and a first lens direction of a camera located on the vehicle, wherein the first lens direction is the direction of the camera before the vehicle turns, and the first vehicle heading direction is the vehicle heading direction during the vehicle's turn; a determination module for determining a steering angle based on the first lens direction and the first vehicle heading direction; a comparison module for comparing the steering angle with a first preset angle threshold to obtain a first comparison result; and a control module for controlling the camera to rotate horizontally from the first lens direction to a second lens direction based on the first comparison result, wherein the second lens direction is the same as the second vehicle heading direction, and the second vehicle heading direction is the vehicle heading direction at the end of the vehicle's turn.

[0013] Thirdly, this application provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the camera control method based on the turning angle described in the first aspect.

[0014] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the camera control method based on the turning angle described in the first aspect.

[0015] As described above, the camera control method, apparatus, device, and medium based on steering angle provided by the embodiments of the present invention have the following beneficial effects:

[0016] By acquiring the first frontal direction of the vehicle and the first lens direction of the camera located on the vehicle, and then determining the steering angle based on the first lens direction and the first frontal direction, the steering angle is compared with a first preset angle threshold. Based on the first comparison result, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction. The steering angle is then compared with the first preset angle threshold. Based on the comparison result, the camera is controlled to delay rotating to the frontal direction of the vehicle at the end of the turn. That is, the camera turns after the vehicle has turned. During the vehicle's turn, the camera can capture the driver's blind spot in real time and dynamically, improving the user's driving experience.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0019] Figure 1 This is a schematic diagram illustrating an implementation environment of a camera control device based on a steering angle, as shown in an exemplary embodiment of this application.

[0020] Figure 2 This is a flowchart illustrating a camera control method based on a steering angle, as shown in an exemplary embodiment of this application.

[0021] Figure 3 This is a schematic diagram illustrating vehicle steering as shown in an exemplary embodiment of this application;

[0022] Figure 4 This is a schematic diagram illustrating the first camera direction and the first vehicle front direction in an exemplary embodiment of this application;

[0023] Figure 5 This is a schematic diagram illustrating the steering angle in an exemplary embodiment of this application;

[0024] Figure 6 This is a schematic diagram illustrating the camera rotation speed based on the steering angle, as shown in an exemplary embodiment of this application;

[0025] Figure 7 This is a flowchart illustrating a specific camera control method based on the steering angle, as shown in an exemplary embodiment of this application;

[0026] Figure 8This is a block diagram illustrating a camera control device based on a steering angle, as shown in an exemplary embodiment of this application;

[0027] Figure 9 This is a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of this application. Detailed Implementation

[0028] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0030] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0031] During a turn, it's crucial to monitor for scrapes, potential movement trajectories of nearby individuals, and overlap with the vehicle's trajectory. Blind spots exist during turns, making them difficult for the driver to observe and requiring cameras to monitor these areas. However, most blind spot cameras are fixed or manually operated, and their lenses always follow the direction of the vehicle's front when turning left or right. This means the central control screen doesn't display the visual focus the driver is interested in. Furthermore, if the camera's viewing angle remains aligned with the front of the vehicle, sudden lens shifts during turns can cause dizziness and negatively impact the driving experience.

[0032] To resolve the above issues, please refer to [link / reference]. Figure 1 , Figure 1This is a schematic diagram illustrating an implementation environment of a camera control device based on a steering angle, as shown in an exemplary embodiment of this application. Figure 1 As shown, the control device 102 is embedded in the vehicle 101 and is used to control the rotation of the camera based on the steering angle during the turning process of the vehicle 101. The control device 102 includes, but is not limited to, the vehicle system, the vehicle computer, etc. By controlling the camera to rotate in a delayed manner until the direction of the vehicle's front end when the vehicle turns, the camera turns with the vehicle and then turns again, which can capture the driver's blind spot during the vehicle's turning process and prevent the lens from turning suddenly, which would cause dizziness in the captured image and improve the user's driving experience.

[0033] Please see Figure 2 , Figure 2 This is a flowchart illustrating a camera control method based on a steering angle, as shown in an exemplary embodiment of this application. This method can be applied to... Figure 1 The implementation environment is shown, and the method is specifically executed by the association resolution module within that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which this method is applicable.

[0034] like Figure 2 As shown, in an exemplary embodiment, the camera control method based on the steering angle includes at least steps S210 to S240, which are described in detail below:

[0035] Step S210: Obtain the first frontal direction of the vehicle and the first lens direction of the camera located on the vehicle.

[0036] Wherein, the first camera direction is the direction in which the vehicle turns towards the front camera, and the first vehicle front direction is the direction in which the vehicle's front is facing while turning. Please see below. Figure 3 , Figure 3 This is a schematic diagram illustrating vehicle steering as shown in an exemplary embodiment of this application. Figure 3 As shown, during a turn, the vehicle's front end steers in response to steering wheel input, followed by the vehicle body turning to complete the left turn. It's important to note that before the turn, the vehicle's front end has one direction; during the turn, it has another direction (the first front end direction); and after the turn, it has a second direction. Similarly, before the turn, the camera lens has one direction (the first lens direction), the same as the vehicle's front end direction before the turn; during the turn, the camera does not turn with the vehicle, but begins rotating after a delay of time 't'; after the turn, the camera then rotates to the second front end direction (the second lens direction). This design prevents the camera from constantly following the vehicle's rotation and movement, reducing image shake and dizziness.

[0037] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the first camera direction and the first vehicle front direction, as shown in an exemplary embodiment of this application. Figure 4 As shown, during the vehicle's turning process, the first direction of the vehicle's front is the direction of vector t1, and the direction of the first camera is the direction of vector t2. As a possible embodiment, it can be assumed that the camera is located at the rear of the vehicle. Before the vehicle turns, the camera's shooting direction is from the rear of the vehicle towards the front. It should be noted that there are no restrictions on the position of the camera here.

[0038] Step S220: Determine the steering angle based on the direction of the first camera and the direction of the first vehicle front.

[0039] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating the steering angle in an exemplary embodiment of this application. Figure 5 As shown, the direction of vector t1 represents the direction of the first vehicle's front, and the direction of vector t2 represents the direction of the first camera. The angle θ formed between the two is the turning angle between the direction of the first camera and the direction of the first vehicle's front.

[0040] Step S230: Compare the steering angle with the first preset angle threshold to obtain the first comparison result.

[0041] Considering that when a vehicle is traveling straight, a slight turn of the steering wheel can create a steering angle, but the vehicle is not actually turning, it is necessary to prevent the camera from slightly rotating, which could cause the captured image to shake. The first preset steering angle threshold can be understood as a benchmark for determining whether the vehicle is turning. The steering angle is compared with the first preset angle threshold to determine whether the vehicle is turning.

[0042] In one embodiment, if the first comparison result is that the steering angle is less than a first preset angle threshold, it is determined that the vehicle has not turned; if the first comparison result is that the steering angle is greater than or equal to the first preset angle threshold, it is determined that the vehicle has turned.

[0043] Step S240: Based on the first comparison result, control the camera to rotate horizontally from the first lens direction to the second lens direction.

[0044] The second camera lens is oriented in the same direction as the second vehicle's front end, which is the direction the vehicle's front end is facing when the turn ends. After the vehicle completes the turn, the camera lens needs to be rotated to align with the direction the vehicle's front end was facing when the turn ended.

[0045] In one embodiment, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result includes: if the first comparison result is that the steering angle is greater than or equal to a first preset angle threshold, then determining the vehicle state, which includes a stationary state and a moving state; when the vehicle state is stationary, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on a first preset speed; when the vehicle state is moving, determining the vehicle speed, so as to control the camera to rotate horizontally from the first lens direction to the second lens direction according to the vehicle speed.

[0046] When the steering angle is greater than or equal to a first preset angle threshold, it indicates that the vehicle has turned. Considering that after the vehicle finishes turning, the camera needs to be controlled to rotate horizontally from the first lens direction to the second lens direction, and that the rotation speed of the camera will vary depending on the vehicle's state after the turn, further judgment of the vehicle's state is required. It should be noted that since the camera does not need to record when the vehicle is stationary, but needs to continue recording when the vehicle is moving, the rotation speed of the camera when the vehicle is stationary can be considered less than the rotation speed of the camera when the vehicle is moving.

[0047] In addition, if the vehicle is in motion, the speed at which the camera rotates horizontally from the first lens direction to the second lens direction will also be different due to different vehicle speeds. Therefore, it is necessary to further determine the vehicle speed in order to determine the rotation speed of the camera from the first lens direction to the second lens direction based on the vehicle speed.

[0048] In one embodiment, when it is determined that the vehicle speed is greater than a preset vehicle speed threshold, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction based on a second preset speed; when it is determined that the vehicle speed is less than or equal to the preset vehicle speed threshold, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction based on a third preset speed.

[0049] It should be noted that the faster the vehicle travels, the faster the camera rotates from the first lens direction to the second lens direction. In other words, when the vehicle is moving quickly, the camera needs to closely follow the vehicle's movement, meaning the time it takes for the camera to rotate to the second lens direction is relatively fast. Conversely, when the vehicle is moving slowly, the time it takes for the camera to rotate to the second lens direction can be relatively slower, ensuring that details in blind spots can be observed while the vehicle is turning. Furthermore, since the camera's rotation speed when the vehicle is stationary can be considered less than its rotation speed when the vehicle is moving, the relationship between the first preset speed, the second preset speed, and the third preset speed is: first preset speed < third preset speed < second preset speed.

[0050] In one embodiment, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result further includes: after determining that the vehicle has turned, comparing the turning angle with a second preset angle threshold to obtain a second comparison result; if the second comparison result is that the turning angle is greater than the second preset angle threshold, controlling the camera to rotate horizontally from the first lens direction to the third lens direction corresponding to the second preset angle threshold at a fourth preset speed; and controlling the camera to rotate horizontally from the third lens direction to the second lens direction based on the first preset speed, the second preset speed, or the third preset speed.

[0051] Considering that when the vehicle's steering angle is too large, the camera's first lens direction is not at the optimal observation angle, if the camera is controlled to rotate directly from the first lens direction to the second lens direction at the aforementioned first, second, or third preset speed, the image captured at the beginning of the rotation from the first lens direction may not show the best view of the blind spot during the vehicle's turn. Therefore, an optimal observation angle is set as the angle threshold, namely the second preset angle threshold. By comparing the steering angle with the second preset angle threshold, it is determined whether the steering angle exceeds the second preset angle threshold. If it does, the rotation speed should be increased first, i.e., based on the third preset speed, the camera's first lens direction should be rotated as quickly as possible to the third lens direction corresponding to the second preset angle threshold to achieve the best observation effect. Then, based on the vehicle's status and speed, the camera is controlled to rotate from the third lens direction to the second lens direction at the first, second, or third preset speed. Therefore, the relationship between the first, second, third, and fourth preset speeds is: first preset speed < third preset speed < second preset speed < fourth preset speed. By controlling the camera rotation at different speeds, the problem of the lens suddenly turning and causing dizziness when the camera turns with the vehicle is effectively prevented.

[0052] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating the camera rotation speed based on the steering angle, as shown in an exemplary embodiment of this application. Figure 6 As shown in the figure, the vertical axis represents the rotation angle, the horizontal axis represents the turning angle, and the dashed line represents the second preset angle threshold. As a possible embodiment, when the turning angle is greater than the second preset angle threshold, the rotation speed will turn the camera from the first lens direction to the third lens direction corresponding to the second preset angle threshold at a relatively fast speed, and then turn the camera from the second lens direction to the first lens direction at a relatively slow speed.

[0053] In one embodiment, after controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: judging the vertical height of the camera based on the second lens direction; if the camera is in a low position, controlling the camera to be vertically raised from the second lens direction to the fourth lens direction at a fifth preset speed.

[0054] When the camera lens rotates to the second lens direction, it indicates that the camera's direction is now aligned with the vehicle's front direction after the turn. However, considering the vehicle is still in motion, the camera still needs to observe the environment around the vehicle's front. Therefore, it's crucial to maintain a high position for better observation of the surrounding environment. After rotating to the second lens direction, the camera's vertical position needs to be assessed. When the camera is at a low position, it is raised vertically from the second lens direction to the fourth lens direction at a fifth preset speed. It should be noted that the camera's vertical raising or lowering is unaffected by the vehicle's current speed.

[0055] In one embodiment, after controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: dynamically displaying the photographic images captured during the process of the camera rotating horizontally from the first lens direction to the second lens direction on the central control screen.

[0056] As the camera rotates from the first lens direction to the second lens direction, the real-time image captured by the camera will be simultaneously displayed on the central control screen, making it easier for the driver to understand the blind spot situation. Furthermore, the blind spot image displayed on the central control screen is a dynamic effect, not a static image.

[0057] Please see Figure 7 , Figure 7 This is a flowchart illustrating a specific camera control method based on a steering angle, as shown in an exemplary embodiment of this application. Figure 7As shown, firstly, the direction of the first camera and the direction of the first vehicle's front are obtained; then, the steering angle is determined based on the direction of the first camera and the direction of the first vehicle's front; next, it is determined whether the steering angle is greater than or equal to a first preset angle threshold; if less, the process ends; if greater than or equal to, it is determined whether the steering angle is greater than a second preset angle threshold; if greater, the camera is controlled to rotate horizontally from the direction of the first camera to the direction of the third camera at a fourth preset speed; if less than or equal to, it is determined whether the vehicle is in motion; if stationary, the camera is controlled to rotate horizontally from the direction of the first camera or the direction of the third camera to the direction of the second camera at a first preset speed; if in motion, the vehicle speed is determined whether it is greater than a preset vehicle speed threshold; if less than or equal to, the camera is controlled to rotate horizontally from the direction of the first camera or the direction of the third camera to the direction of the second camera at a third preset speed; if greater, the camera is controlled to rotate horizontally from the direction of the first camera or the direction of the third camera to the direction of the second camera at a second preset speed; then, it is determined whether the direction of the second camera is in a low position; if not, the process ends; if so, the camera is controlled to rotate horizontally from the direction of the second camera to the direction of the fourth camera at a fourth preset speed, and then the process ends.

[0058] The aforementioned camera control method based on steering angle acquires the first frontal direction of the vehicle and the first lens direction of the camera located on the vehicle. Then, it determines the steering angle based on the first lens direction and the first frontal direction. The steering angle is compared with a first preset angle threshold. Based on the first comparison result, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction. The steering angle is then compared with the first preset angle threshold. Based on the comparison result, the camera is controlled to rotate delayed to the frontal direction of the vehicle at the end of the turn. That is, the camera turns after the vehicle has turned. During the vehicle's turn, the camera can capture the driver's blind spot in real time and dynamically, improving the user's driving experience.

[0059] Please see Figure 8 , Figure 8 This is a block diagram illustrating a camera control device based on a steering angle, as shown in an exemplary embodiment of this application. This device can be applied to... Figure 1 The implementation environment shown is specifically executed by the association resolution module within that implementation environment. It should be understood that this device can also be applied to other exemplary implementation environments and executed by devices in other implementation environments; this embodiment does not limit the implementation environment to which the method is applicable.

[0060] like Figure 8 As shown, this embodiment provides a camera control device 800 based on the turning angle, the device comprising:

[0061] The acquisition module 801 is used to acquire the first front direction of the vehicle and the first lens direction of the camera located on the vehicle. The first lens direction is the direction in which the vehicle turns towards the front camera, and the first front direction is the front direction of the vehicle while it is turning.

[0062] The determining module 802 is used to determine the steering angle based on the direction of the first camera and the direction of the first vehicle head.

[0063] The comparison module 803 is used to compare the steering angle with a first preset angle threshold to obtain a first comparison result;

[0064] The control module 804 is used to control the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result. The second lens direction is the same as the second vehicle front direction, which is the vehicle front direction when the vehicle turns.

[0065] It should be noted that the camera control device based on the turning angle provided in the above embodiments and the camera control method based on the turning angle provided in the above embodiments belong to the same concept. The specific way in which each module and unit performs operations has been described in detail in the method embodiments, and will not be repeated here. In practical applications, the camera control device based on the turning angle provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation.

[0066] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the camera control method based on the turning angle provided in the above embodiments.

[0067] Please see Figure 9 , Figure 9 This is a schematic diagram illustrating the structure of an electronic device suitable for implementing the embodiments of this application. It should be noted that... Figure 9 The electronic device 900 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0068] like Figure 9As shown, the electronic device 900 includes a Central Processing Unit (CPU) 901, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 902 or a program loaded from Storage Section 908 into Random Access Memory (RAM) 903. The RAM 903 also stores various programs and data required for system operation. The CPU 1001, ROM 902, and RAM 903 are interconnected via a bus 904. An Input / Output (I / O) interface 905 is also connected to the bus 904.

[0069] The following components are connected to I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to I / O interface 905 as needed. Removable media 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 910 as needed so that computer programs read from them can be installed into storage section 908 as needed.

[0070] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit (CPU) 901, it performs various functions defined in the system of this application.

[0071] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0072] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0073] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0074] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the aforementioned camera control method based on the turning angle. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0075] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A camera control method based on steering angle, characterized in that, The method includes: The vehicle's first front direction and the first lens direction of the camera located on the vehicle are obtained. The first lens direction is the direction of the camera before the vehicle turns, and the first front direction is the front direction of the vehicle during the vehicle's turn. The steering angle is determined based on the direction of the first camera and the direction of the first vehicle's front. The steering angle is compared with the first preset angle threshold to obtain the first comparison result; Based on the first comparison result, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction, the second lens direction being the same as the second vehicle front direction, and the second vehicle front direction being the vehicle front direction when the vehicle finishes turning. The step of controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result includes: if the first comparison result indicates that the steering angle is greater than or equal to the first preset angle threshold, then determining the vehicle state, which includes a stationary state and a moving state; when the vehicle state is stationary, controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on a first preset speed; when the vehicle state is moving, determining the vehicle speed, and controlling the camera to rotate horizontally from the first lens direction to the second lens direction according to the vehicle speed, wherein the speed at which the camera rotates horizontally from the first lens direction to the second lens direction is positively correlated with the vehicle speed.

2. The camera control method based on steering angle according to claim 1, characterized in that, After obtaining the first comparison result, the process includes: If the first comparison result is that the steering angle is less than the first preset angle threshold, it is determined that the vehicle has not turned. If the first comparison result is that the steering angle is greater than or equal to the first preset angle threshold, then it is determined that the vehicle has turned.

3. The camera control method based on steering angle according to claim 1, characterized in that, The process involves determining the vehicle's speed and controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on that speed, including: When it is determined that the vehicle speed is greater than a preset vehicle speed threshold, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction based on a second preset speed. When it is determined that the vehicle speed is less than or equal to the preset vehicle speed threshold, the camera is controlled to rotate horizontally from the first lens direction to the second lens direction based on the third preset speed.

4. The camera control method based on steering angle according to claim 1, characterized in that, The step of controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result further includes: Once it is determined that the vehicle has turned, the turning angle is compared with the second preset angle threshold to obtain a second comparison result. If the second comparison result is that the turning angle is greater than the second preset angle threshold, then the camera is controlled to rotate horizontally from the first lens direction to the third lens direction corresponding to the second preset angle threshold at the fourth preset speed; The camera is controlled to rotate horizontally from the direction of the third lens to the direction of the second lens based on a first preset speed, a second preset speed, or a third preset speed.

5. The camera control method based on steering angle according to claim 1, characterized in that, After controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: The vertical height of the camera is determined based on the direction of the second lens. If the camera is in a low position, the camera is controlled to be vertically raised from the second lens direction to the fourth lens direction at a fifth preset speed.

6. The camera control method based on the turning angle according to any one of claims 1 to 5, characterized in that, After controlling the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result, the method further includes: The camera captures images as it rotates horizontally from the direction of the first lens to the direction of the second lens, and the images are dynamically displayed on the central control screen.

7. A central control camera control device based on steering angle, characterized in that, The device includes: The acquisition module is used to acquire the first front direction of the vehicle and the first lens direction of the camera located on the vehicle. The first lens direction is the direction of the camera before the vehicle turns, and the first front direction is the front direction of the vehicle during the vehicle's turn. The determining module is used to determine the steering angle based on the direction of the first camera and the direction of the first vehicle head. The comparison module is used to compare the steering angle with a first preset angle threshold once to obtain a first comparison result; The control module is used to control the camera to rotate horizontally from the first lens direction to the second lens direction based on the first comparison result. The second lens direction is the same as the second vehicle front direction, which is the vehicle front direction when the vehicle ends its turn. The control module is specifically configured to: if the first comparison result indicates that the steering angle is greater than or equal to the first preset angle threshold, determine the vehicle state, which includes a stationary state and a moving state; when the vehicle state is stationary, control the camera to rotate horizontally from the first lens direction to the second lens direction based on a first preset speed; when the vehicle state is moving, determine the vehicle speed, and control the camera to rotate horizontally from the first lens direction to the second lens direction according to the vehicle speed, wherein the speed at which the camera rotates horizontally from the first lens direction to the second lens direction is positively correlated with the vehicle speed.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, cause the electronic device to implement the camera control method based on the steering angle as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the camera control method based on the turning angle as described in any one of claims 1 to 6.

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