Vehicle and method of vehicle control

Abstract

The present disclosure provides a vehicle and a vehicle control method, and belongs to the technical field of automobiles. In the case that the environment is relatively dark, the shooting area of the camera is lighted by the light supplement lamp. In this way, in the case that the environment is relatively dark, a relatively clear image can be shot, and a relatively clear panoramic image can be generated. The clear panoramic image can better assist the driver to complete parking, reversing and other operations, and improve driving safety.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automobiles, and in particular, to a vehicle and a vehicle control method. BACKGROUND

[0002] With the development of automobile technology, an automobile can provide a 360-degree panoramic image. A user can watch the 360-degree panoramic image around the automobile through a vehicle display screen, and the 360-degree panoramic image is convenient for comprehensively understanding the situation around the automobile and can assist an automobile driver to complete parking, reversing and other operations. However, in a case where light is relatively dark, it is difficult to shoot a clear 360-degree panoramic image, which can result in reduced driving safety. SUMMARY

[0003] The present disclosure provides a vehicle and a vehicle control method, which can solve the above technical problems in the related art. The technical solution is as follows:

[0004] In a first aspect, the present disclosure provides a vehicle, which comprises a vehicle body (1), a plurality of cameras (2), a plurality of light supplement lamps (3), a plurality of luminance sensors (4) and a controller (5);

[0005] The plurality of cameras (2) are respectively located at different positions of an outer surface of the vehicle body (1) and are connected to the vehicle body (1), and a shooting direction of each camera (2) is directed outward of the vehicle body (1);

[0006] Each camera (2) corresponds to at least one light supplement lamp (3), the at least one light supplement lamp (3) is respectively located at the outer surface of the vehicle body (1) and is connected to the vehicle body (1), and a distance between the at least one light supplement lamp (3) and the corresponding camera (2) is less than a distance threshold, and the at least one light supplement lamp (3) has the same orientation as the corresponding camera (2);

[0007] Each camera (2) corresponds to at least one luminance sensor (4), the at least one luminance sensor (4) is respectively located at the outer surface of the vehicle body (1) and is connected to the vehicle body (1), and the at least one luminance sensor (4) is configured to detect a luminance of a shooting area of the corresponding camera (2);

[0008] The controller (5) is configured to:

[0009] When a panoramic image display function is turned on, for each camera (2), based on a current luminance detected by the luminance sensor (4) corresponding to the camera (2), the light supplement lamp (3) corresponding to the camera (2) is controlled.

[0010] In a possible implementation, the plurality of cameras (2) comprises a first camera (2a), a second camera (2b), a third camera (2c) and a fourth camera (2d), the first camera (2a) is connected to a middle position of a front bumper of the vehicle body (1), the second camera (2b) is connected to a left rearview mirror of the vehicle body (1), the third camera (2c) is connected to a right rearview mirror of the vehicle body (1), and the fourth camera (2d) is connected to a middle position of a rear bumper of the vehicle body (1).

[0011] In a possible implementation, each camera (2) corresponds to a plurality of light supplement lamps (3), and the plurality of light supplement lamps (3) are distributed in a circumferential direction around the corresponding camera (2).

[0012] In a possible implementation, a total light supplement area formed by the light supplement areas of the plurality of light supplement lamps (3) has a range greater than or equal to a total shooting area formed by the shooting areas of the plurality of cameras (2).

[0013] In a possible implementation, each camera (2) corresponds to one light supplement lamp (3).

[0014] The controller (5) is configured to:

[0015] When the current brightness is less than a preset brightness threshold, the controller (5) controls to turn on the light supplement lamp (3) corresponding to the camera (2).

[0016] In a possible implementation, each camera (2) corresponds to a plurality of light supplement lamps (3).

[0017] The controller (5) is configured to:

[0018] The controller (5) determines a current brightness level based on the current brightness.

[0019] The controller (5) determines a target number of light supplement lamps corresponding to the current brightness level based on a preset correspondence between brightness levels and numbers of light supplement lamps.

[0020] The controller (5) controls to turn on the light supplement lamp (3) corresponding to the camera (2) based on the target number of light supplement lamps.

[0021] In a possible implementation, the vehicle further comprises a plurality of switch units (6), each switch unit (6) corresponds to one light supplement lamp (3), and the controller (5) is electrically connected to the switch units (6).

[0022] When the panoramic image display function is turned on, for each camera (2), the switch unit (6) corresponding to the camera (2) is controlled to be turned on or turned off based on the current brightness detected by the brightness sensor (4) corresponding to the camera (2).

[0023] In a possible implementation, the vehicle further comprises a plurality of rotating seat assemblies (7), each rotating seat assembly (7) corresponding to one camera (2), each rotating seat assembly (7) being located on the outer surface of the vehicle body (1) and being connected to the vehicle body (1) and electrically connected to the controller (5), and the distance between each rotating seat assembly (7) and the corresponding camera (2) being less than the distance threshold, and the rotating seat assembly (7) having a hemispherical surface, and the rotating seat assembly (7) being capable of moving the center point of the hemispherical surface in a partial area on the spherical surface to which the hemispherical surface belongs under the control of the controller (5);

[0024] For each camera (2), the camera (2) corresponds to a plurality of brightness sensors (4), and the plurality of brightness sensors (4) are uniformly distributed on the hemispherical surface of the rotating seat assembly (7) corresponding to the camera (2) and are connected to the hemispherical surface, and the detection direction of the brightness sensor (4) is perpendicular to the hemispherical surface and points away from the spherical center;

[0025] For each camera (2), the camera (2) corresponds to a plurality of light supplement lamps (3), and the plurality of light supplement lamps (3) are uniformly distributed on the hemispherical surface of the rotating seat assembly (7) corresponding to the camera (2) and are connected to the hemispherical surface, and the direction of the light supplement lamp (3) is perpendicular to the hemispherical surface and points away from the spherical center; or for each camera (2), the camera (2) corresponds to one light supplement lamp (3), and the light supplement lamp (3) is located at the center point of the hemispherical surface of the rotating seat assembly (7) corresponding to the camera (2) and is connected to the hemispherical surface, and the direction of the light supplement lamp (3) is perpendicular to the hemispherical surface and points away from the spherical center;

[0026] The controller (5) is configured to:

[0027] For each camera (2), the controller (5) controls the center point of the hemispherical surface of the rotating seat assembly (7) corresponding to the camera (2) to move in a partial area on the spherical surface to which the hemispherical surface belongs, and when it is detected that the current brightness detected by the brightness sensor (4) closest to the center point among the plurality of brightness sensors (4) connected to the rotating seat assembly (7) is the lowest, and the current brightness detected by the brightness sensor (4) farther away from the center point is higher, the controller (5) controls the hemispherical surface to stop moving and controls the light supplement lamp (3) connected to the rotating seat assembly (7) to emit light.

[0028] In a second aspect, a vehicle control method is provided, which is applied to a vehicle including a vehicle body (1), a plurality of cameras (2), a plurality of light compensation lamps (3), a plurality of brightness sensors (4), and a controller (5);

[0029] The plurality of cameras (2) are respectively located at different positions on the outer surface of the vehicle body (1) and are connected to the vehicle body (1), and the shooting direction of each camera (2) is towards the outside of the vehicle body (1);

[0030] Each camera (2) corresponds to at least one light compensation lamp (3), and the at least one light compensation lamp (3) is respectively located on the outer surface of the vehicle body (1) and is connected to the vehicle body (1), and the distance between the at least one light compensation lamp (3) and the corresponding camera (2) is less than a distance threshold, and the at least one light compensation lamp (3) has the same orientation as the corresponding camera (2);

[0031] Each camera (2) corresponds to at least one brightness sensor (4), and the at least one brightness sensor (4) is respectively located on the outer surface of the vehicle body (1) and is connected to the vehicle body (1), and the at least one brightness sensor (4) is used to detect the brightness of the shooting area of the corresponding camera (2);

[0032] When the panoramic image display function is turned on, for each camera (2), the controller (5) controls the light compensation lamp (3) corresponding to the camera (2) based on the current brightness detected by the brightness sensor (4) corresponding to the camera (2).

[0033] In a possible implementation, the plurality of cameras (2) include a first camera (2a), a second camera (2b), a third camera (2c), and a fourth camera (2d), the first camera (2a) is connected to the middle position of the front bumper of the vehicle body (1), the second camera (2b) is connected to the left rearview mirror of the vehicle body (1), the third camera (2c) is connected to the right rearview mirror of the vehicle body (1), and the fourth camera (2d) is connected to the middle position of the rear bumper of the vehicle body (1).

[0034] In the present disclosure, in the case of a relatively dark environment, the shooting area of the camera is compensated by the light compensation lamp. In this way, in the case of a relatively dark environment, a clearer image can be captured, and a clearer panoramic image can be generated, which can better assist the driver to complete parking, reversing and other operations, and improve driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0036] Figure 1 is a structural schematic diagram of a vehicle provided by an embodiment of the present disclosure;

[0037] Figure 2 is a schematic diagram of a shooting angle of a camera 2 shown by an embodiment of the present disclosure;

[0038] Figure 3 is a structural schematic diagram of a vehicle shown by an embodiment of the present disclosure;

[0039] Figure 4 is a distribution schematic diagram of a light supplement lamp 3 shown by an embodiment of the present disclosure;

[0040] Figure 5 is a distribution schematic diagram of a light supplement lamp 3 shown by an embodiment of the present disclosure;

[0041] Figure 6 is a distribution schematic diagram of a brightness sensor 4 shown by an embodiment of the present disclosure;

[0042] Figure 7 is a distribution schematic diagram of a brightness sensor 4 shown by an embodiment of the present disclosure;

[0043] Figure 8 is a structural schematic diagram of a controller 5 shown by an embodiment of the present disclosure;

[0044] Figure 9 is a structural schematic diagram of a rotating seat assembly 7 shown by an embodiment of the present disclosure;

[0045] Figure 10 is a processing flow schematic diagram of controlling a light supplement lamp 3 shown by an embodiment of the present disclosure;

[0046] Figure 11 is a processing flow schematic diagram of controlling a light supplement lamp 3 shown by an embodiment of the present disclosure.

[0047] Reference signs:

[0048] 1, vehicle body;

[0049] 2, multiple cameras, 2a, first camera, 2b, second camera, 2c, third camera, 2d, fourth camera;

[0050] 3, multiple light supplement lamps;

[0051] 4. a plurality of luminance sensors;

[0052] 5. a controller;

[0053] 6. a switching unit;

[0054] 7. a rotating seat assembly. DETAILED DESCRIPTION

[0055] For the purpose of making the object, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings.

[0056] The present disclosure provides a vehicle, which comprises a vehicle body 1, a plurality of cameras 2, a plurality of light supplement lamps 3, a plurality of luminance sensors 4 and a controller 5. The top view of the complete vehicle body 1 of the vehicle can be as shown in Figure 1 .

[0057] The vehicle body 1 is the outer frame of the car, which comprises a vehicle body shell, an engine cover, a roof cover, a trunk cover and a fender. The plurality of cameras 2 are respectively located at different positions on the outer surface of the vehicle body 1, and are connected with the vehicle body 1, and the shooting direction of the plurality of cameras 2 is towards the outside of the vehicle body 1.

[0058] The total shooting area composed of the shooting areas of the plurality of cameras 2 is greater than or equal to all the areas around the vehicle body 1. The number of cameras 2 installed on different vehicles can be different. For example, as shown in Figure 1 , the vehicle comprises four cameras 2, including a first camera 2a, a second camera 2b, a third camera 2c and a fourth camera 2d, the first camera 2a is connected with the middle position of the front bumper of the vehicle body 1, the second camera 2b is connected with the left side mirror of the vehicle body 1, the third camera 2c is connected with the right side mirror of the vehicle body 1, and the fourth camera 2d is connected with the middle position of the rear bumper of the vehicle body 1. The shooting angle of the plurality of cameras 2 can be, for example, as shown in Figure 2 , the first camera 2a is directed towards the front of the vehicle, the shooting area of the first camera 2a is the area before the dotted line connected with the first camera 2a in Figure 2 , the second camera 2b is directed towards the left of the vehicle, the shooting area of the second camera 2b is the area to the left of the dotted line connected with the second camera 2b in Figure 2 , the third camera 2c is directed towards the right of the vehicle, the shooting area of the third camera 2c is the area to the right of the dotted line connected with the third camera 2c in Figure 2 , and the fourth camera 2d is directed towards the back of the vehicle, the shooting area of the fourth camera 2d is the area after the dotted line connected with the fourth camera 2d in Figure 2 . Optionally, the camera 2 can also be installed at other positions as Figure 1 .

[0059] Optionally, each camera 2 corresponds to at least one light compensation lamp 3, the at least one light compensation lamp 3 is located on the outer surface of the vehicle body 1, the distance between the at least one light compensation lamp 3 and the corresponding camera 2 is less than a distance threshold, and the at least one light compensation lamp 3 is connected to the vehicle body 1. The at least one light compensation lamp 3 has the same orientation as the corresponding camera 2. For example Figure 3 As shown, Figure 3 is a front view of the vehicle, and the front bumper has a camera 2a in the middle, Figure 3 For example, each camera 2 corresponds to one light compensation lamp 3, and the light compensation lamp 3 is located on the right side of the first camera 2a, and the distance between them is less than the distance threshold. The light compensation lamp 3 has the same orientation as the corresponding first camera 2a, the first camera 2a faces the front of the vehicle, and the light compensation lamp 3 also faces the front of the vehicle.

[0060] Optionally, each camera 2 corresponds to a plurality of light compensation lamps 3, and the plurality of light compensation lamps 3 are distributed in a circle around the corresponding camera 2. For example Figure 4 As shown, the circles represent light compensation lamps 3, and four light compensation lamps are distributed around the camera 2 with the same distance from the camera 2. For another example Figure 5 As shown, the circles represent light compensation lamps 3, and eight light compensation lamps are distributed around the camera 2 with the same distance from the camera 2.

[0061] The total light compensation area formed by the light compensation areas of the plurality of light compensation lamps 3 has a range greater than or equal to the total shooting area formed by the shooting areas of the plurality of cameras 2.

[0062] Each camera 2 corresponds to at least one brightness sensor 4, and the at least one brightness sensor 4 is located on the outer surface of the vehicle body 1 and connected to the vehicle body 1. The at least one brightness sensor 4 is used to detect the brightness of the shooting area of the corresponding camera 2. For example Figure 6 As shown, each camera 2 corresponds to one brightness sensor 4. For another example Figure 7 As shown, each camera 2 corresponds to a plurality of brightness sensors 4.

[0063] When the panoramic image display function is turned on, for each camera 2, the controller 5 can control the light compensation lamp 3 corresponding to the camera 2 based on the current brightness detected by the brightness sensor 4 corresponding to the camera 2.

[0064] The controller 5 can perform various calculations, receive and store collected data, etc.

[0065] The controller 5 can include a processor 810, a memory 820, and a communication component 830, as shown. Figure 8 As shown.

[0066] The processor 810 can be a central processing unit (CPU) or a system on chip (SoC), etc. The processor 810 can be used to process various operation instructions, for example, compare the size relationship between the current brightness and the preset brightness threshold, etc.

[0067] The memory 820 can include various volatile memories or non-volatile memories, such as a solid state disk (SSD), a dynamic random access memory (DRAM), etc. The memory 820 can be used to store initial data, intermediate data and result data used in the related processing process, for example, pre-store the corresponding relationship of the camera 2, the light supplement lamp 3 and the brightness sensor 4, etc.

[0068] The communication component 830 can be a wired network connector, an ultra wide band (UWB) technology, a wireless fidelity (WiFi) module, a Bluetooth module, a cellular network communication module, etc. The communication component 830 can be used to receive and send various instructions and data, etc. For example, obtain the current brightness detected by the brightness sensor, etc.

[0069] In a possible implementation, the vehicle further includes a plurality of switch units 6, each switch unit 6 corresponds to one light supplement lamp 3, and the controller 5 is electrically connected with the switch unit 6. When the panoramic image display function is turned on, for each camera 2, the controller 5 controls the switch unit 6 of the camera 2 corresponding light supplement lamp 3 to be turned on or turned off based on the current brightness detected by the brightness sensor 4 corresponding to the camera 2.

[0070] In a possible implementation, the vehicle further includes a plurality of rotating seat assemblies 7, each rotating seat assembly 7 corresponds to one camera 2, each rotating seat assembly 7 is located on the outer surface of the vehicle body 1, the distance between the corresponding camera 2 and the rotating seat assembly 7 is less than a distance threshold, the rotating seat assembly 7 is connected with the vehicle body 1 and is electrically connected with the controller 5, the rotating seat assembly 7 has a hemispherical surface, and the rotating seat assembly 7 can make the center point of the hemispherical surface do spherical surface motion in a partial area on the spherical surface to which the hemispherical surface belongs under the control of the controller 5.

[0071] For example Figure 9As shown, the rotating seat assembly 7 includes a ball, a first ring-shaped support, a second ring-shaped support, a first gear, a second gear, a first motor, and a second motor. The ball can also be a semi-ball or a partial ball. The first ring-shaped support has two support ears connected to the center of the ball. The first gear is between the ball and the first ring-shaped support, and is connected to the first ring-shaped support. The ball has teeth on the outside and is engaged with the first gear. The first motor is connected to the first gear. When the first motor works, the first gear rotates and drives the ball to rotate. The second gear is between the first ring-shaped support and the second ring-shaped support, and is connected to the second ring-shaped support. The first ring-shaped support is partially inside the second ring-shaped support and partially on the upper part of the second ring-shaped support. The first ring-shaped support has teeth at the connection with the second ring-shaped support and is engaged with the second gear. The second motor is connected to the second gear. When the second motor works, the second gear rotates and drives the first ring-shaped support to rotate. In this way, when the first gear and the second gear rotate, the ball rotates. The light supplement lamp 3 and the brightness sensor 4 are connected to the ball, so the light supplement lamp 3 and the brightness sensor 4 change positions.

[0072] For each camera 2, the camera 2 corresponds to a plurality of brightness sensors 4, which are uniformly distributed on the hemispherical surface of the rotating seat assembly 7 corresponding to the camera and are connected to the hemispherical surface. The detection direction of the brightness sensor 4 is perpendicular to the hemispherical surface and points away from the ball center. For example Figure 9 In the embodiment, the plurality of brightness sensors 4 can be uniformly distributed on the ball, and when the position of the ball changes, the positions of the plurality of brightness sensors 4 also change.

[0073] For each camera 2, the camera 2 corresponds to a plurality of light supplement lamps 3, which can be uniformly distributed on the hemispherical surface of the rotating seat assembly 7 corresponding to the camera and are connected to the hemispherical surface. The direction of the light supplement lamp 3 is perpendicular to the hemispherical surface and points away from the ball center. For example Figure 9 In the embodiment, the plurality of light supplement lamps 3 can be uniformly distributed on the ball, and when the position of the ball changes, the positions of the plurality of light supplement lamps 3 also change. Alternatively, for each camera 2, the camera 2 corresponds to one light supplement lamp 3, which is located at the center point of the hemispherical surface of the rotating seat assembly 7 corresponding to the camera and is connected to the hemispherical surface. The direction of the light supplement lamp 3 is perpendicular to the hemispherical surface and points away from the ball center. For example Figure 9 In the embodiment, the one light supplement lamp 3 can be located at the center point directly above the ball.

[0074] For each camera 2, the controller 5 controls the center point of the corresponding hemispherical surface of the rotating seat assembly 7 to move on the partial area of the spherical surface to which the hemispherical surface belongs, when it is detected that the current brightness detected by the brightness sensor 4 closest to the center point among the plurality of brightness sensors 4 connected to the rotating seat assembly 7 is the lowest, and the current brightness detected by the brightness sensor 4 farther away from the center point is higher, the controller controls the hemispherical surface to stop moving, and controls the light compensation lamp 3 connected to the rotating seat assembly 7 to emit light.

[0075] In a possible implementation, the process flow of the controller controlling the light compensation lamp can be as shown in Figure 10 , including the following steps:

[0076] 1001, obtaining the current brightness of the brightness sensor.

[0077] In the case where each camera 2 corresponds to one light compensation lamp 3, the controller 5 can periodically obtain the current brightness of all brightness sensors on the vehicle, and the period can be set by the user.

[0078] 1002, determining the brightness sensor whose current brightness is less than the preset brightness threshold as the target brightness sensor.

[0079] The current brightness detected by each brightness sensor is compared with the preset brightness threshold, and the brightness sensor corresponding to the current brightness less than the preset brightness threshold is determined as the target brightness sensor. For example, the current brightness detected by a certain brightness sensor is 80 lux, and the preset brightness threshold is 100 lux, and the current brightness is less than the preset brightness threshold, so the controller 5 controls the corresponding light compensation lamp 3 to turn on.

[0080] 1003, controlling the target light compensation lamp corresponding to the target brightness sensor to turn on.

[0081] The controller 5 can pre-store the correspondence between the camera 2, the light compensation lamp 3 and the brightness sensor 4, which can be shown in Table 1, for example.

[0082] Table 1

[0083] Camera 2 Fill light 3 Brightness sensor 4 2a 3a 4a 2b 3b 4b …… …… ……

[0084] Based on the pre-stored correspondence between the camera 2, the light compensation lamp 3 and the brightness sensor 4, the camera and the light compensation lamp corresponding to the target brightness sensor are determined as the target camera and the target light compensation lamp. The controller 5 controls the target light compensation lamp to turn on and compensates the shooting area of the target camera.

[0085] In a possible implementation, the process flow of the controller controlling the light compensation lamp can be as shown in Figure 11 , including the following steps:

[0086] 1101, acquire the current brightness of the brightness sensor.

[0087] In the case that each camera 2 corresponds to multiple light supplement lamps 3, the controller 5 can periodically acquire the current brightness of all brightness sensors on the vehicle, and the period can be set by the user.

[0088] 1102, determine the current brightness level based on the current brightness.

[0089] The controller 5 can pre-store the corresponding relationship between the brightness range and the brightness level, for example, as shown in Table 2, the brightness range and the brightness level are negatively correlated.

[0090] Table 2

[0091] Brightness range Brightness level [71，100] One [31，70] Two …… ……

[0092] Determine the brightness range to which the current brightness detected by each brightness sensor belongs, and then determine the brightness level to which the current brightness belongs according to the corresponding relationship between the brightness range and the brightness level. For example, the current brightness is 50 lux, and the current brightness level is the second level.

[0093] 1103, determine the target light supplement lamp quantity corresponding to the current brightness level based on the pre-stored corresponding relationship between the brightness level and the light supplement lamp quantity.

[0094] The controller 5 can pre-store the corresponding relationship between the brightness level and the light supplement lamp quantity, which can be shown in Table 3, for example, the brightness level and the light supplement lamp quantity are positively correlated.

[0095] Table 3

[0096] Brightness level Number of fill lights One 2 Two 3 …… ……

[0097] For example, when the current brightness level is the second level, the target light supplement lamp quantity is 3. At this time, if the number of light supplement lamps corresponding to each camera 2 is greater than the target light supplement lamp quantity 3, the controller 5 only needs to control 3 light supplement lamps to be turned on.

[0098] 1104, control the light supplement lamps corresponding to the camera to be turned on based on the target light supplement lamp quantity.

[0099] The controller can pre-store the priority of each light supplement lamp, and according to the target light supplement lamp quantity, turn on the light supplement lamps with the priority in the front of the target light supplement lamp quantity. For example, the multiple light supplement lamps 31a, 31b, 31c, 31d corresponding to the camera 2a, the priority order of the four light supplement lamps is 31a>31b>31c>31d, and the target light supplement lamp quantity is 3. When the controller 5 controls 31a, 31b, and 31c to be turned on.

[0100] In the embodiments of the present disclosure, in the case that the environment is relatively dark, the shooting area of the camera is lighted by the light supplement lamp. In this way, in the case that the environment is relatively dark, a clearer image can be shot, and a clearer panoramic image can be generated, which can better assist the driver to complete parking, reversing and the like, thereby improving driving safety.

[0101] In the description of the present specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0102] It can be understood that "multiple" in the present disclosure means two or more, and other quantifiers are similar. The association relationship of the associated objects is described, which means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship. The singular form "a", "said" and "the" are also intended to include the plural form, unless the context clearly indicates otherwise.

[0103] It can be further understood that the terms "first", "second", and the like are used to describe various information, but these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not represent a particular order or importance. In fact, the expressions of "first", "second", and the like can be completely interchangeable. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present disclosure.

[0104] It can be further understood that the terms "center", "longitudinal", "transverse", "front", "back", "up", "down", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0105] It will be further understood that terms, such as "mounting", "connecting", "connecting", "fixing", etc., are to be interpreted broadly in accordance with their usage in the relevant art, and can include fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections, or connections that enable communication between two elements; direct connections between two elements, or indirect connections through intermediate elements; or internal connections between two elements, or interactions between two elements. Those skilled in the art will appreciate that the terms, as used in the present disclosure, can be interpreted differently according to the specific context, and the specific meanings of the terms in the present disclosure can be understood by those skilled in the art.

[0106] It will be further understood that, although the operations of the presently disclosed embodiments are described in a particular, sequential order for convenient presentation, unless otherwise specified, the operations can be performed in any order. For example, the operations can be performed in parallel, or in serial, or in an order that is different than that described herein. It is therefore contemplated that the operations can be performed in parallel, or in serial, or in order different from the described one.

[0107] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the aspects disclosed herein. It is intended that the present disclosure cover any and all variations of the present disclosure including those variations that can be made to the disclosure in light of the above detailed description and the claims that follow. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

[0108] It should be understood that the present disclosure is not limited to the precise structures herein described and illustrated in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims that follow.

Claims

1. A vehicle characterized by comprising: The vehicle comprises a vehicle body, a plurality of cameras, a plurality of light supplement lamps, a plurality of brightness sensors and a controller; The plurality of cameras are respectively located at different positions on the outer surface of the vehicle body and connected with the vehicle body, and the shooting directions of the plurality of cameras are towards the outside of the vehicle body; Each camera corresponds to at least one light supplement lamp, the at least one light supplement lamp is respectively located on the outer surface of the vehicle body, the distance between the at least one light supplement lamp and the corresponding camera is less than a distance threshold, the at least one light supplement lamp is connected with the vehicle body, and the orientation of the at least one light supplement lamp is the same as that of the corresponding camera; Each camera corresponds to at least one brightness sensor, the at least one brightness sensor is respectively located on the outer surface of the vehicle body and connected with the vehicle body, and the at least one brightness sensor is used for detecting the brightness of the shooting area of the corresponding camera; The vehicle further comprises a plurality of rotating seat assemblies, each rotating seat assembly corresponds to a camera, each rotating seat assembly is respectively located on the outer surface of the vehicle body, the distance between each rotating seat assembly and the corresponding camera is less than the distance threshold, each rotating seat assembly is connected with the vehicle body and electrically connected with the controller, the rotating seat assembly has a hemispherical surface, and the rotating seat assembly can make the center point of the hemispherical surface do spherical motion in a partial area on the spherical surface to which the hemispherical surface belongs under the control of the controller; For each camera, the camera corresponds to a plurality of brightness sensors, the plurality of brightness sensors are uniformly distributed on the hemispherical surface of the rotating seat assembly corresponding to the camera and connected with the hemispherical surface, and the detection direction of the brightness sensor is perpendicular to the hemispherical surface and points to the direction away from the spherical center; For each camera, the camera corresponds to a plurality of light supplement lamps, the plurality of light supplement lamps are uniformly distributed on the hemispherical surface of the rotating seat assembly corresponding to the camera and connected with the hemispherical surface, and the orientation of the light supplement lamp is perpendicular to the hemispherical surface and points to the direction away from the spherical center; or for each camera, the camera corresponds to one light supplement lamp, the one light supplement lamp is located at the center point of the hemispherical surface of the rotating seat assembly corresponding to the camera and connected with the hemispherical surface, and the orientation of the light supplement lamp is perpendicular to the hemispherical surface and points to the direction away from the spherical center; The controller is used for: When the panoramic image display function is turned on, for each camera, the controller controls the center point of the hemispherical surface of the rotating seat assembly corresponding to the camera to do spherical motion in a partial area on the spherical surface to which the hemispherical surface belongs, and when it is detected that the current brightness detected by the brightness sensor closest to the center point among the plurality of brightness sensors connected with the rotating seat assembly is the lowest and the current brightness detected by the brightness sensor farther away from the center point is higher, the controller controls the hemispherical surface to stop moving and controls the light supplement lamp connected with the rotating seat assembly to emit light.

2. The vehicle of claim 1, wherein The plurality of cameras comprises a first camera, a second camera, a third camera and a fourth camera, the first camera is connected to the middle position of the front bumper of the vehicle body, the second camera is connected to the left side mirror of the vehicle body, the third camera is connected to the right side mirror of the vehicle body, and the fourth camera is connected to the middle position of the rear bumper of the vehicle body.

3. The vehicle of claim 1, wherein Each camera corresponds to a plurality of light supplement lamps, and the plurality of light supplement lamps are distributed in a circle with the corresponding camera as the center.

4. The vehicle of claim 1, wherein The range of the total light supplement area composed of the light supplement areas of the plurality of light supplement lamps is greater than or equal to the range of the total shooting area composed of the shooting areas of the plurality of cameras.

5. The vehicle of claim 1, wherein Each camera corresponds to a light supplement lamp; The controller is used to: When the current brightness is less than a preset brightness threshold, the controller controls to turn on the light supplement lamp corresponding to the camera.

6. The vehicle of claim 1, wherein Each camera corresponds to a plurality of light supplement lamps; The controller is used to: Determine the current brightness level based on the current brightness; Determine the target number of light supplement lamps corresponding to the current brightness level based on the corresponding relationship between the brightness level and the number of light supplement lamps stored in advance; Based on the target number of light supplement lamps, the controller controls to turn on the light supplement lamp corresponding to the camera.

7. The vehicle of claim 1, wherein The vehicle further comprises a plurality of switch units, each switch unit corresponding to a light supplement lamp, the controller is electrically connected with the switch units, and the controller is used to: When the panoramic image display function is turned on, for each camera, based on the current brightness detected by the brightness sensor corresponding to the camera, the controller controls to turn on or turn off the switch unit of the light supplement lamp corresponding to the camera.

8. A method of vehicle control, characterized by, The method is applied to the vehicle, and the vehicle comprises a vehicle body, a plurality of cameras, a plurality of light supplement lamps, a plurality of brightness sensors and a controller; The plurality of cameras are respectively located at different positions on the outer surface of the vehicle body and connected to the vehicle body, and the shooting directions of the plurality of cameras are towards the outside of the vehicle body. Each camera corresponds to at least one light supplement lamp, the at least one light supplement lamp is respectively located on the outer surface of the vehicle body, the distance between the at least one light supplement lamp and the corresponding camera is less than a distance threshold, and the at least one light supplement lamp is connected to the vehicle body, and the at least one light supplement lamp has the same orientation as the corresponding camera. Each camera corresponds to at least one brightness sensor, and the at least one brightness sensor is respectively located on the outer surface of the vehicle body and connected to the vehicle body. The vehicle further comprises a plurality of rotating seat assemblies, each rotating seat assembly corresponding to a camera, each rotating seat assembly being respectively located on the outer surface of the vehicle body, having a distance less than the distance threshold from the corresponding camera, being connected to the vehicle body, and being electrically connected to the controller, the rotating seat assembly has a hemispherical surface, and the rotating seat assembly can make the center point of the hemispherical surface move on a partial area of the spherical surface to which the hemispherical surface belongs under the control of the controller. For each camera, the camera corresponds to a plurality of brightness sensors, the plurality of brightness sensors are uniformly distributed on the hemispherical surface of the rotating seat assembly corresponding to the camera and connected to the hemispherical surface, and the detection direction of the brightness sensor is perpendicular to the hemispherical surface and points away from the spherical center. For each camera, a plurality of light supplement lamps corresponding to the camera are uniformly distributed on and connected to a hemispherical surface of a rotating seat assembly corresponding to the camera, and the light supplement lamps are oriented perpendicularly to the hemispherical surface and away from the center of the hemispherical surface; or for each camera, one light supplement lamp corresponding to the camera is located at the center point of a hemispherical surface of a rotating seat assembly corresponding to the camera and is connected to the hemispherical surface, and the light supplement lamp is oriented perpendicularly to the hemispherical surface and away from the center of the hemispherical surface; The method comprises: The at least one brightness sensor detects the brightness of the shooting area of the corresponding camera; When the panoramic image display function is turned on, for each camera, the controller controls the center point of the hemispherical surface of the rotating seat assembly corresponding to the camera to move on the spherical surface to which the hemispherical surface belongs, and when it is detected that the current brightness detected by the brightness sensor closest to the center point among the plurality of brightness sensors connected to the rotating seat assembly is the lowest and the current brightness detected by the brightness sensor farther away from the center point is higher, the controller controls the hemispherical surface to stop moving and controls the light supplement lamp connected to the rotating seat assembly to emit light.

9. The method of claim 8, wherein, Each camera corresponds to one light supplement lamp; The controller is configured to: When the current brightness is less than a preset brightness threshold, control the light supplement lamp corresponding to the camera to be turned on.

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