A vehicle intelligent photographing method, device, apparatus and storage medium

Abstract

Embodiments of the present application provide a vehicle intelligent photographing method, device, apparatus and storage medium, wherein when a user has a demand of using a vehicle to take a photograph, the vehicle can respond to a starting instruction, start a target image acquisition device corresponding to a target scene mode, and control the vehicle to move to a target scene pose corresponding to the target scene mode; and according to a photographing instruction, the target image acquisition device acquires a target image at the target scene pose. Through this implementation, the vehicle can automatically move to a suitable target scene pose for photographing according to the target scene mode, thereby meeting the photographing demand in various scenes and making the photographing mode more diversified.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method, device, apparatus, and storage medium for intelligent vehicle photography. Background Technology

[0002] As vehicles become increasingly intelligent, the demand for in-vehicle camera functions is growing. When users travel by car and want to take pictures of the scenery along the way, they can usually open the car window and use their mobile phones to take pictures, but this method is relatively dangerous and not suitable in windy or rainy conditions.

[0003] In existing technologies, cameras inside the vehicle cabin are typically used to take pictures of passengers. This method is relatively simple and cannot meet diverse photography needs. Therefore, a solution is urgently needed. Summary of the Invention

[0004] This application provides a vehicle intelligent photography method, device, apparatus, and storage medium for taking pictures using image acquisition equipment deployed on the vehicle, thereby diversifying the photography methods.

[0005] This application provides a vehicle intelligent photography method, applied to a vehicle equipped with at least one image acquisition device, comprising: responding to a start command to start a target image acquisition device corresponding to a target scene mode; controlling the vehicle to move to a framing pose corresponding to the target scene mode; and responding to a photography command to acquire a target image through the target image acquisition device in the framing pose.

[0006] Optionally, after the target image is acquired by the target image acquisition device in the framing pose, the method further includes: sending the target image to the terminal for display.

[0007] Further optionally, in response to the photo-taking command, before acquiring the target image in the framing pose, the method further includes: acquiring an image through the target image acquisition device to obtain video stream data; and sending the video stream data to the terminal for preview display.

[0008] Optionally, controlling the vehicle to move to the framing pose corresponding to the target scene mode includes: calculating the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode; using a path planning algorithm to plan a motion path from the current position of the vehicle to the framing pose; and controlling the vehicle to move to the framing pose through a domain controller on the vehicle according to the motion path.

[0009] Further optionally, the framing pose of the vehicle is calculated according to the photo-taking algorithm corresponding to the target scene mode, including: taking a picture of the current scene using a binocular camera in the at least one image acquisition device to obtain a binocular image; identifying the pose of the subject object to be photographed from the binocular image; calculating the distance between the subject object and the binocular camera based on the binocular image; and calculating the target direction, target distance, and target pose of the vehicle to photograph the subject object in the target scene mode based on the pose of the subject object and the distance.

[0010] This application embodiment also provides a vehicle intelligent photography device, including: a device start-up module, used to respond to a start-up command and start a target image acquisition device corresponding to a target scene mode; a movement control module, used to control the vehicle to move to a framing pose corresponding to the target scene mode; and an acquisition module, used to respond to a photography command and acquire a target image through the target image acquisition device in the framing pose.

[0011] Further optionally, before the acquisition module acquires the target image in response to the photo-taking command and in the framing pose, it is further configured to: acquire the image through the target image acquisition device to obtain video stream data; and send the video stream data to the terminal for preview display.

[0012] Further optionally, when the motion control module controls the vehicle to move to the framing pose corresponding to the target scene mode, it is specifically used to: calculate the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode; plan a motion path from the current position of the vehicle to the framing pose using a path planning algorithm; and control the vehicle to move to the framing pose through the domain controller on the vehicle according to the motion path.

[0013] Further optionally, when the motion control module calculates the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode, it is specifically used to: capture the current scene using a binocular camera in at least one image acquisition device to obtain a binocular image; identify the pose of the subject object to be photographed from the binocular image; calculate the distance between the subject object and the binocular camera based on the binocular image; and calculate the target direction, target distance, and target pose of the vehicle to photograph the subject object in the target scene mode based on the pose of the subject object and the distance.

[0014] This application also provides an electronic device, including: a memory and a processor; wherein, the memory is used to: store one or more computer instructions; the processor is used to execute the one or more computer instructions to: perform the steps in the vehicle intelligent photography method.

[0015] This application also provides a computer-readable storage medium storing a computer program, which, when executed, enables the implementation of the steps in the vehicle intelligent photography method.

[0016] In the vehicle intelligent photography method, device, apparatus, and storage medium provided in this application embodiment, when a user needs to take photos using the vehicle, the vehicle can respond to a start command, activate the target image acquisition device corresponding to the target scene mode, and control the vehicle to move to the framing pose corresponding to the target scene mode; according to the photography command, the target image acquisition device acquires the target image in the framing pose. Through this implementation, the vehicle can automatically move to a suitable framing pose to take photos according to the target scene mode, meeting the photography needs in various scenarios and making photography methods more diversified. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1a A schematic diagram of a vehicle intelligent photography method provided as an exemplary embodiment of this application;

[0019] Figure 1b A schematic diagram of a vehicle intelligent photography method provided as another exemplary embodiment of this application;

[0020] Figure 2 A schematic diagram of a motion path provided for an exemplary embodiment of this application;

[0021] Figure 3 A flowchart illustrating the manual mode provided in an exemplary embodiment of this application;

[0022] Figure 4 A flowchart illustrating an exemplary embodiment of this application;

[0023] Figure 5 A schematic diagram of the structure of a vehicle intelligent photography device provided in an exemplary embodiment of this application;

[0024] Figure 6 A schematic diagram of the structure of an electronic device provided for an exemplary embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In existing technologies, cameras inside the vehicle cabin are generally used to take pictures of passengers. This method is relatively simple and cannot meet diverse photography needs. In some embodiments of this application, a smart vehicle photography method is provided. In this method, an electronic device can acquire images in real time using at least one image acquisition device in a received photography mode, obtaining video stream data, and then sending the video stream data to a terminal for preview. In response to a photography command, the image acquisition device acquires a target image in the photography mode and sends the target image to the terminal for display. This implementation allows users to perceive the scene captured by the vehicle in real time based on the previewed video stream, and can flexibly switch the video stream sent to the terminal into images according to the user's photography command, making the photography method more diverse. The technical solutions provided by various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0027] Figure 1a A schematic flowchart of a vehicle intelligent photography method provided as an exemplary embodiment of this application is shown below. Figure 1a As shown, the method includes:

[0028] Step 11a: Receive the photo mode sent by the terminal.

[0029] Step 12a: Capture images in real time using at least one image acquisition device in photo mode to obtain video stream data.

[0030] Step 13a: Send the video stream data to the terminal for preview display.

[0031] Step 14a: Respond to the photo capture command and capture the target image in photo capture mode using the image capture device.

[0032] Step 15a: Send the target image to the terminal for display.

[0033] This embodiment can be executed by an autonomous driving controller deployed on a vehicle. The autonomous driving controller may include an ISP (Image Signal Processor) and a CPU (Central Processing Unit).

[0034] In this embodiment, the terminal can be a user terminal, an in-vehicle terminal, or other devices capable of displaying images and interacting with the autonomous driving controller. The autonomous driving controller can receive the photo-taking mode sent by the terminal. The photo-taking mode can include active mode and manual mode, etc. Active mode refers to a mode where the vehicle actively moves, composes, frames, and takes the photo based on the position of the subject. Manual mode refers to a mode where the user selects the shooting location and time, and can send a photo-taking command through the terminal to control the vehicle to take the photo.

[0035] At least one image acquisition device may include: a binocular camera, a telephoto camera, a wide-angle camera, and an autofocus lens, etc.

[0036] The autonomous driving controller can communicate and interact with at least one image acquisition device and a terminal, and can transmit commands and data between the terminal and at least one communication acquisition device. The terminal can be a user's mobile phone, tablet, smartwatch, or other portable device.

[0037] Upon receiving a photo-taking mode request, the autonomous driving controller can acquire images in real time using at least one image acquisition device to obtain video stream data. Video stream data refers to a series of consecutive frames captured by at least one image acquisition device. For example, if the autonomous driving controller receives an active photo-taking mode, it can acquire images in real time using both a binocular camera and a telephoto camera in active mode to obtain video stream data containing several consecutive frames.

[0038] After acquiring video stream data, the autonomous driving controller can send the data to the terminal for preview, allowing the user to perceive the scene captured by the vehicle in real time based on the preview. After previewing on the terminal, the user can trigger a shooting operation, causing the terminal to send a photo-taking command to the autonomous driving controller. The autonomous driving controller responds to the photo-taking command by capturing the target image using at least one image acquisition device in photo-taking mode.

[0039] The target image can be a single frame from a series of frames in the video stream that corresponds to the moment the photo-taking command is received. For example, if the video stream consists of 1,000 consecutive frames (P1-P1000) captured over 1,000 time intervals from time T0 to T1000, and the terminal sends a photo-taking command A at time T1000, then the autonomous driving controller can use image P1000 captured at time T1000 as the target image corresponding to photo-taking command A.

[0040] After the target image is acquired, it can be sent to the terminal to be displayed to the user.

[0041] In this embodiment, the electronic device can acquire images in real time using at least one image acquisition device in the received photo-taking mode, obtain video stream data, and send the video stream data to the terminal for preview display. In response to a photo-taking command, the electronic device acquires a target image in photo-taking mode using at least one image acquisition device and sends the target image to the terminal for display. Through this implementation, users can perceive the scene captured by the vehicle in real time based on the previewed video stream, and can flexibly switch the video stream sent to the terminal into an image according to the user's photo-taking command, making the photo-taking method more diverse.

[0042] In some optional embodiments, the video stream data can be compressed before being sent to the terminal for preview. Optionally, the video stream data can be compressed into H.264, H.265, or other video compression formats. H.264 and H.265 are two highly compressed digital video codec standards and digital video compression formats. H.264 and H.265 have the advantage of low bitrates; at the same image quality, their data volume is smaller than that of traditional video compression formats, and they have stronger fault tolerance and network adaptability. This step aims to reduce the amount of data transmitted to the terminal and speed up transmission by compressing the video stream data. On the other hand, considering the performance of the terminal itself, compressing the video stream data before transmission can improve the smoothness of the preview on the terminal.

[0043] In some optional embodiments, the photo-taking mode includes an active mode. In active mode, the operation of the autonomous driving controller to acquire images in real time through at least one image acquisition device to obtain video stream data can be implemented based on the following steps:

[0044] Step 121: Determine the target scene mode from at least one scene mode.

[0045] The target scene mode can be selected by the user from at least one scene mode, or it can be the currently default scene mode. Optionally, the at least one scene mode includes at least one of the following: landscape mode, full-body portrait mode, half-body portrait mode, front-facing portrait mode, and side-facing portrait mode.

[0046] Step 122: From at least one image acquisition device, start the target image acquisition device corresponding to the target scene mode.

[0047] The term "target" is used to define the image acquisition device, solely for distinguishing the image acquisition device corresponding to the target scene mode from those described in other embodiments. It should be noted that each of the aforementioned landscape mode, full-body portrait mode, half-body portrait mode, front-facing portrait mode, and side-facing portrait mode can correspond to one or more target image acquisition devices.

[0048] The correspondence between each scene mode and the target image acquisition device can be preset. Based on this, after determining the target scene mode from at least one scene mode, the target image acquisition device corresponding to the target scene mode can be activated according to the above correspondence. For example, when the user selects the landscape mode as the target scene mode, the target image acquisition device corresponding to the landscape mode (such as a wide-angle camera and a stereo camera) can be activated by default. Of course, the user can also select the target image acquisition device through the terminal. For example, the user can choose any lens from telephoto cameras, wide-angle cameras, and autofocus lenses to achieve the user's expected shooting effect.

[0049] Step 123: Control the vehicle to move to the framing pose corresponding to the target scene mode through the domain controller on the vehicle.

[0050] The framing pose includes the vehicle's location and its attitude at that location. The location can be the geometric center of the vehicle's underside or its center of gravity. The attitude refers to the vehicle's facing angle, i.e., its yaw angle. The yaw angle can be obtained from sensors mounted on the vehicle. In other words, the vehicle has a corresponding yaw angle at each location, and the framing pose can be represented by the vehicle's location and its yaw angle at each location. For example, one framing pose of the vehicle might be: the vehicle is at position 1 with a yaw angle of 20°, and another framing pose might be: the vehicle is at position 2 with a yaw angle of 30°.

[0051] If the vehicle has been moved to the framing position, step 124 can be executed to capture video stream data.

[0052] Step 124: Acquire images using the target image acquisition device to obtain video stream data.

[0053] For example, after activating the target image acquisition device (such as a wide-angle camera) corresponding to the landscape mode, the landscape within the field of view can be captured by the wide-angle camera, and the acquired landscape images can be transmitted to the terminal in the form of streaming data.

[0054] In some optional embodiments, the step 123 described above, "controlling the vehicle to move to the framing pose corresponding to the target scene mode via the domain controller on the vehicle," can be implemented based on the following steps:

[0055] Step 1231: Calculate the vehicle's framing pose based on the photo-taking algorithm corresponding to the target scene mode.

[0056] Step 1232: Employ a path planning algorithm to plan the motion path from the vehicle's current position to the framing pose. The following will combine this with the attached... Figure 2 Further illustrative examples are provided below.

[0057] For example, such as Figure 2 As shown, B1, B2, B3, B4, and B5 are multiple obstacles. When the target scene mode is a frontal shot of a person, and the vehicle is located at pose Z1 with the user facing away from the vehicle, the framing pose calculated by the photo-taking algorithm can be directly in front of the user. Figure 2 At pose Z2, the motion paths planned by the path planning algorithm are L1 and L2 in the figure.

[0058] Step 1233: Based on the motion path, control the vehicle to move to the framing position using the domain controller on the vehicle.

[0059] Specifically, the domain controller can send commands to the vehicle's powertrain, steering, and braking systems based on the motion path to control the vehicle's forward movement, steering, and braking. For example... Figure 2 As shown, the vehicle can move from position Z1 to position Z2 along motion path L1 or L2.

[0060] In some optional embodiments, the step 1231 described above, "calculating the vehicle's framing pose according to the image-taking algorithm corresponding to the target scene mode," can be implemented based on the following steps:

[0061] First, the current scene is captured by at least one binocular camera in an image acquisition device to obtain a binocular image. The current scene refers to the scene covered by the field of view of the binocular cameras at the current moment.

[0062] Then, a subject recognition algorithm is used to identify the pose of the subject to be photographed from the binocular images. This subject recognition algorithm can be implemented based on a neural network model, and this embodiment is not limited to this. After the subject is identified, a binocular vision algorithm can be used to calculate the distance between the subject and the binocular cameras.

[0063] The subject to be photographed may include the user, animal, scenery, etc., and this embodiment is not limited to these. The posture of the subject may include the head position, face position, orientation, and body posture.

[0064] Taking the user as the main subject as an example, when the user is standing with their back to the vehicle, the autonomous driving controller uses a binocular camera to capture a binocular image of the user. A subject recognition algorithm then identifies the location and orientation of the user's face from this image (e.g., the user is standing with their back to the vehicle). Based on the binocular vision algorithm, the distance between the user and the binocular camera is calculated to be 8 meters.

[0065] After obtaining the pose and distance of the main object, the target direction, target distance, and target pose that the vehicle needs to move to capture the main object in the target scene mode can be calculated based on the pose and distance of the main object.

[0066] Optionally, during the autonomous driving process, multiple motion paths can be planned for the vehicle, each with its own motion cycle. Each motion cycle can be 5 seconds, 8 seconds, 10 seconds, etc. For any given motion cycle, the target direction refers to the direction of movement for the vehicle's autonomous movement within that cycle; the target distance refers to the distance the vehicle needs to move for autonomous movement within that cycle; and the target attitude refers to the vehicle's attitude information, such as heading angle and steering wheel angle, during autonomous movement within that cycle.

[0067] Continue to combine Figure 2 Please provide an explanation. For example... Figure 2 As shown, P1, P2, P3, P4, and Pk are the location points (i.e., autonomous driving trajectory points) corresponding to times T0, T1, T2, T3, and Tk, respectively. The motion cycle can be: the time it takes for the vehicle to move from P1 to P2, from P2 to P3, from P3 to P4, from P4 to Pk, and so on. Taking the motion cycle from P4 to Pk as an example, within this motion cycle, based on the attitude and distance of the target object, the target direction of the vehicle can be calculated as 35° east of north, the target distance as 3m, and the target attitude as a heading angle of 35°.

[0068] In addition to the active modes described in the foregoing embodiments, in some optional embodiments, the vehicle may also provide a manual mode for taking photos. In manual mode, the autonomous driving controller responds to a photo-taking command and can adjust the shooting parameters before acquiring a target image through at least one image acquisition device in the photo-taking mode.

[0069] Optionally, the autonomous driving controller may receive parameter adjustment instructions sent by the terminal, wherein the parameter adjustment instructions refer to instructions to adjust the shooting parameters (such as contrast, focal length and aperture, etc.) of the at least one image acquisition device, such as instructions to increase / decrease the focal length, or instructions to increase / decrease the contrast.

[0070] Upon receiving a parameter adjustment command, the autonomous driving controller can send the command to at least one image acquisition device, enabling the device to adjust its shooting parameters accordingly. These shooting parameters include contrast, focal length, and aperture. For example, with a telephoto lens, after receiving a command from the terminal to increase the focal length, the controller sends this command to the telephoto lens. The lens can then adaptively increase its focal length to meet the user's shooting needs.

[0071] This embodiment allows users to adjust parameters of the preview content during the preview process before acquiring the target image, making the acquired target image more in line with the user's needs.

[0072] In addition to the aforementioned embodiments, this application also provides a vehicle intelligent photography method, applied to a vehicle equipped with at least one image acquisition device, which will be described exemplarily below.

[0073] Figure 1b A flowchart illustrating a vehicle intelligent photography method provided as another exemplary embodiment of this application is shown below. Figure 1b As shown, the method includes:

[0074] Step 11b: Respond to the start command and start the target image acquisition device corresponding to the target scene mode.

[0075] Step 12b: Control the vehicle to move to the framing pose corresponding to the target scene mode.

[0076] Step 13b: Respond to the photo capture command and capture the target image using the target image acquisition device in the framing position.

[0077] In this embodiment, the start command and the photo-taking command can be sent by the terminal or by voice commands sent by the user. For example, the user can issue a voice command saying "Please take a picture" in the direction of the vehicle. The terminal can be a user terminal, an in-vehicle terminal, or other devices that can display images and interact with the autonomous driving controller.

[0078] The autonomous driving controller can respond to the start command from the user terminal or the vehicle terminal and start the target image acquisition device corresponding to the target scene mode.

[0079] The target scene modes may include: landscape mode, full-body portrait mode, half-body portrait mode, front-facing portrait mode, or side-facing portrait mode. Each of these modes may correspond to one or more image acquisition devices.

[0080] The correspondence between each scene mode and the target image acquisition device can be preset. Based on this, after determining the target scene mode from at least one scene mode, the target image acquisition device corresponding to the target scene mode can be activated according to the above correspondence. For example, when the user selects the landscape mode as the target scene mode, the target image acquisition device corresponding to the landscape mode (such as a wide-angle camera and a stereo camera) can be activated by default. Of course, the user can also select the target image acquisition device through the terminal. For example, the user can choose any lens from telephoto cameras, wide-angle cameras, and autofocus lenses to achieve the user's expected shooting effect.

[0081] The framing pose includes the vehicle's location and its attitude at that location. The location can be the geometric center of the vehicle's underside or its center of gravity. The attitude refers to the vehicle's facing angle, i.e., its yaw angle. The yaw angle can be obtained from sensors mounted on the vehicle. In other words, the vehicle has a corresponding yaw angle at each location, and the framing pose can be represented by the vehicle's location and its yaw angle at each location. For example, one framing pose of the vehicle might be: the vehicle is at position 1 with a yaw angle of 20°, and another framing pose might be: the vehicle is at position 2 with a yaw angle of 30°.

[0082] After determining the framing pose, the vehicle can be controlled by the domain controller to move to the framing pose corresponding to the target scene mode. When the vehicle is in this framing pose, it can respond to a photo-taking command and acquire a target image using the target image acquisition device in that framing pose. The photo-taking command can be sent by the user terminal or the vehicle terminal; this embodiment is not limited to either. In some scenarios, the photo-taking command can also be a voice command sent by the user; for example, the user can issue a voice command like "Please take a picture" towards the direction of the vehicle.

[0083] In this embodiment, when a user needs to take photos using the vehicle, the vehicle can respond to a start command, activate the target image acquisition device corresponding to the target scene mode, and control the vehicle to move to the framing position corresponding to the target scene mode. According to the photo-taking command, the target image acquisition device acquires a target image at that framing position and sends the target image to the terminal for display. Through this implementation, the vehicle can automatically move to a suitable framing position for taking photos according to the target scene mode, satisfying the photography needs in various scenarios and making photography methods more diverse.

[0084] Optionally, after the target image is acquired by the target image acquisition device in the framing position, the target image can be sent to the terminal for display.

[0085] In some exemplary embodiments, in response to a photo-taking command, before capturing the target image in the framing pose, the target image acquisition device can also acquire images to obtain video stream data; the video stream data is then sent to the terminal for preview display. For example, after activating the target image acquisition device (e.g., a wide-angle camera) corresponding to the landscape mode, the wide-angle camera can capture the landscape within the field of view, and the acquired landscape image is transmitted to the terminal in the form of streaming data.

[0086] In some exemplary embodiments, when controlling the vehicle to move to the framing pose corresponding to the target scene mode, the framing pose of the vehicle can be calculated according to the photo-taking algorithm corresponding to the target scene mode; a path planning algorithm is used to plan the motion path from the current position of the vehicle to the framing pose; according to the motion path, the vehicle is controlled to move to the framing pose through the domain controller on the vehicle.

[0087] Optionally, when calculating the framing pose of the vehicle according to the image-taking algorithm corresponding to the target scene mode, the current scene can be captured by a binocular camera in at least one image acquisition device to obtain a binocular image; a subject recognition algorithm is used to identify the pose of the subject to be photographed from the binocular image; a binocular vision algorithm is used to calculate the distance between the subject and the binocular camera; based on the pose of the subject and the distance, the target direction, target distance, and target pose required for the vehicle to photograph the subject in the target scene mode are calculated. For details, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0088] The following will combine Figure 3 and Figure 4 The present application will further explain the vehicle intelligent photography method provided in the embodiments of this application, as well as the actual application scenarios.

[0089] Figure 3 This is a flowchart illustrating the manual mode, such as... Figure 3As shown, the ISP included in the autonomous driving controller can transmit raw data to the camera via MIPI (Mobile Industry Processor Interface) and I2C (Inter-Integrated Circuit). After receiving the raw data, the autonomous driving controller can compress it into an H.264 video stream and transmit it to the domain controller. The domain controller then transmits the stream to the TBOX (Telematics Box) in the vehicle via the CAN (Controller Area Network) bus. Upon receiving the video stream, the TBOX can upload it to the cloud server, which then sends it to the terminal, allowing the user to preview the video stream on the terminal's application. Furthermore, when the user clicks to take a photo during the preview, the terminal will execute the photo-taking command according to... Figure 3 The path shown is sent to the camera to control it to take a picture. In this way, various devices on the vehicle (autopilot controller and TBOX, etc.) are used to achieve image preview and picture taking, making the picture taking method more diverse. Figure 4 This is a flowchart illustrating the active mode, such as... Figure 4 As shown, the ISP included in the autonomous driving controller can transmit raw data with the camera via MIPI and I2C. The autonomous driving controller connects to the domain controller via an ETH (EtherNet) interface. After receiving the raw data, the autonomous driving controller processes it and generates control commands, which are then sent to the vehicle's powertrain, steering, and braking systems via the domain controller to move the vehicle to the framing position. Once the vehicle is in the framing position, subsequent photo-taking can be performed. In this way, the vehicle is controlled to reach the optimal shooting position, resulting in photos that better meet the user's expectations and allowing for more diverse shooting methods.

[0090] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 11a to 15a can be device A; or the execution subject of steps 11a and 12a can be device A, and the execution subject of steps 13a to 15a can be device B; and so on.

[0091] Furthermore, some processes described in the above embodiments and accompanying drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 11a, 12a, etc., are merely used to distinguish different operations and do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel.

[0092] It should be noted that the terms "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0093] This application provides a vehicle intelligent photography device, such as... Figure 5 As shown, the vehicle's intelligent photography device includes:

[0094] The device startup module 501 is used to respond to the startup command and start the target image acquisition device corresponding to the target scene mode.

[0095] The motion control module 502 is used to control the vehicle to move to the framing pose corresponding to the target scene mode.

[0096] The acquisition module 503 is used to respond to the photo capture command and acquire the target image through the target image acquisition device in the framing position.

[0097] Alternatively, after acquiring the target image through the target image acquisition device in the framing pose, the acquisition module 503 is further configured to: send the target image to the terminal for display.

[0098] Further optionally, before the acquisition module 503 acquires the target image in response to the photo-taking command and in the framing pose, it is also used to: acquire the image through the target image acquisition device to obtain video stream data; and send the video stream data to the terminal for preview display.

[0099] Further optionally, when the motion control module 502 controls the vehicle to move to the framing pose corresponding to the target scene mode, it is specifically used to: calculate the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode; plan the motion path from the current position of the vehicle to the framing pose using a path planning algorithm; and control the vehicle to move to the framing pose through the domain controller on the vehicle according to the motion path.

[0100] Further optionally, when the motion control module 502 calculates the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode, it is specifically used to: take a picture of the current scene using a binocular camera in at least one image acquisition device to obtain a binocular image; identify the pose of the subject to be photographed from the binocular image; calculate the distance between the subject and the binocular camera based on the binocular image; and calculate the target direction, target distance, and target pose of the vehicle to photograph the subject in the target scene mode based on the pose of the subject and the distance.

[0101] In this embodiment, when a user needs to take photos using the vehicle, the vehicle can respond to a start command, activate the target image acquisition device corresponding to the target scene mode, and control the vehicle to move to the framing position corresponding to the target scene mode. According to the photo-taking command, the target image is acquired by the target image acquisition device at that framing position. Through this implementation, the vehicle can automatically move to a suitable framing position for shooting according to the target scene mode, satisfying the photography needs in various scenarios and making photography methods more diverse.

[0102] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an exemplary embodiment of this application, as shown below. Figure 6 As shown, the electronic device includes a memory 601 and a processor 602.

[0103] Memory 601 is used to store computer programs and can be configured to store various other data to support operation on the terminal device. Examples of this data include instructions for any application or method used to operate on the terminal device, contact data, phone book data, messages, pictures, videos, etc.

[0104] The memory 601 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0105] The processor 602, coupled to the memory 601, is used to execute the computer program in the memory 601 for: responding to a start command to start a target image acquisition device corresponding to the target scene mode; controlling the vehicle to move to the framing pose corresponding to the target scene mode; and responding to a photo capture command to acquire a target image through the target image acquisition device in the framing pose.

[0106] Alternatively, after acquiring a target image through the target image acquisition device in the framing pose, the processor 602 is further configured to: send the target image to the terminal for display.

[0107] Alternatively, before the processor 602 responds to the photo-taking command and acquires the target image in the framing pose, it is further configured to: acquire the image through the target image acquisition device to obtain video stream data; and send the video stream data to the terminal for preview display.

[0108] Further optionally, when the processor 602 controls the vehicle to move to the framing pose corresponding to the target scene mode, it specifically performs the following: calculates the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode; plans a motion path from the current position of the vehicle to the framing pose using a path planning algorithm; and controls the vehicle to move to the framing pose through the domain controller on the vehicle according to the motion path.

[0109] Optionally, when the processor 602 calculates the framing pose of the vehicle according to the photo-taking algorithm corresponding to the target scene mode, it specifically performs the following: taking a picture of the current scene using a binocular camera in at least one image acquisition device to obtain a binocular image; identifying the pose of the subject to be photographed from the binocular image; calculating the distance between the subject and the binocular camera based on the binocular image; and calculating the target direction, target distance, and target pose of the vehicle required to photograph the subject in the target scene mode based on the pose of the subject and the distance.

[0110] The above Figure 6 The memory in the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0111] The above Figure 6 The display 603 includes a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touchscreen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor can sense not only the boundaries of a touch or swipe action, but also the duration and pressure associated with that touch or swipe operation.

[0112] Furthermore, such as Figure 6As shown, the electronic device also includes other components such as a communication component 604 and a power supply component 605. Figure 6 The diagram only shows some components and does not mean that the electronic device includes only these components. Figure 6 The components shown.

[0113] The above Figure 6 The communication component 604 is configured to facilitate wired or wireless communication between the device containing the communication component and other devices. The device containing the communication component can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G, or 5G, or combinations thereof. In one exemplary embodiment, the communication component receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component may be implemented based on Near Field Communication (NFC), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), Bluetooth (BT), and other technologies.

[0114] The power supply component 605 provides power to various components of the device in which it resides. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which it resides.

[0115] In this embodiment, when a user needs to take photos using the vehicle, the vehicle can respond to a start command, activate the target image acquisition device corresponding to the target scene mode, and control the vehicle to move to the framing position corresponding to the target scene mode. According to the photo-taking command, the target image is acquired by the target image acquisition device at that framing position. Through this implementation, the vehicle can automatically move to a suitable framing position for shooting according to the target scene mode, satisfying the photography needs in various scenarios and making photography methods more diverse.

[0116] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps in the intelligent vehicle photography method.

[0117] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0119] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0120] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0121] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0122] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0123] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0125] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A vehicle intelligent photographing method, applied to a vehicle provided with at least one image acquisition device, characterized in that, Comprising: in response to the start instruction, starting the target image acquisition device corresponding to the target scene mode; control the vehicle to move to the target scene mode corresponding to the target scene mode; in response to the shooting instruction, through the target image acquisition device in the target scene mode to collect target image; wherein, control the vehicle to move to the target scene mode corresponding to the target scene mode, comprising: according to the target scene mode corresponding to the shooting algorithm, the target scene mode is calculated to the target scene mode corresponding to the target scene mode; adopt path planning algorithm, plan from the current position of the vehicle to reach the target scene mode of motion path; according to the motion path, through the domain controller on the vehicle, control the vehicle to move to the target scene mode.

2. The method of claim 1, wherein, through the target image acquisition device in the target scene mode to collect target image after, still include: send the target image to the terminal for display.

3. The method of claim 1, wherein, in response to the shooting instruction, before the target scene mode is collected, still include: through the target image acquisition device for image acquisition, get video stream data; send the video stream data to the terminal for preview display.

4. The method of claim 1, wherein, according to the target scene mode corresponding to the shooting algorithm, the target scene mode is calculated to the target scene mode corresponding to the target scene mode, comprising: through the at least one image acquisition device in the binocular camera to the current scene for shooting, get binocular image; from the binocular image, the posture of the subject object to be photographed is identified; the binocular image is calculated, and the distance between the subject object and the binocular camera is obtained; according to the posture of the subject object and the distance, the target direction, the target distance and the target posture of the vehicle in the target scene mode for shooting the subject object are calculated.

5. A vehicle intelligent photographing device, characterized in that, Comprising: device start module, for responding to the start instruction, starting the target image acquisition device corresponding to the target scene mode; mobile control module, for controlling the vehicle to move to the target scene mode corresponding to the target scene mode; acquisition module, for responding to the shooting instruction, through the target image acquisition device in the target scene mode to collect target image; wherein, the mobile control module in control the vehicle to move to the target scene mode corresponding to the target scene mode, specifically for: according to the target scene mode corresponding to the shooting algorithm, the target scene mode is calculated to the target scene mode corresponding to the target scene mode; adopt path planning algorithm, plan from the current position of the vehicle to reach the target scene mode of motion path; according to the motion path, through the domain controller on the vehicle, control the vehicle to move to the target scene mode.

6. The apparatus of claim 5, wherein, the acquisition module in response to the shooting instruction, before the target scene mode is collected, still for: through the target image acquisition device for image acquisition, get video stream data;Send the video stream data to the terminal for preview display.

7. The apparatus of claim 5, wherein, the mobile control module in according to the target scene mode corresponding to the shooting algorithm, the target scene mode is calculated to the target scene mode corresponding to the target scene mode, specifically for: through at least one image acquisition device in the binocular camera to the current scene for shooting, get binocular image;From the binocular image, the posture of the subject object to be photographed is identified; The binocular image is calculated to obtain a distance between the subject object and the binocular camera; and a target direction, a target distance and a target posture of movement of the vehicle for photographing the subject object in the target scene mode are calculated according to the posture of the subject object and the distance.

8. An electronic device, comprising: Comprise: a memory and a processor; wherein the memory is configured to store one or more computer instructions; the processor is configured to execute the one or more computer instructions to perform the steps in the method of any one of claims 1-4.

9. A computer readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the processor is caused to implement the steps in the method of any one of claims 1-4.

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