Vehicle-mounted image acquisition control system, method, device and equipment and storage medium

Abstract

The invention discloses a vehicle-mounted image acquisition control system, method, device and equipment and a storage medium. The system comprises a vehicle-mounted controller, a first inertial measurement sensor and an image acquisition assembly, the image acquisition assembly comprises an electromagnetic torque control unit, a closed cavity and a camera assembly located in the closed cavity, and the space between the closed cavity and the camera assembly is filled with a liquid object in a sealed mode; the first inertial measurement sensor is used for collecting driving attitude data of a current vehicle; the vehicle-mounted controller is used for carrying out attitude adjustment analysis on the camera assembly based on the driving attitude data to obtain torque control data under the condition that the driving attitude data meets a preset vehicle attitude change condition; and the electromagnetic torque control unit is used for generating electromagnetic torque corresponding to the torque control data so as to carry out follow-up control on the suspension attitude of the camera assembly in the liquid object. According to the technical scheme provided by the invention, the timeliness and accuracy of image anti-shake and correction can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to a vehicle-mounted image acquisition control system, method, device, equipment and storage medium. Background Art

[0002] In driving scenarios, the forward-looking controller used for lane line and front vehicle identification generally has strict requirements on the camera's installation position and angle. The change in its field of view angle is limited to a smaller range to ensure the stability of the forward-looking camera's image data and reduce the computational pressure of the back-end AI operation.

[0003] In order to reduce the impact of vehicle shaking on image stability when driving on bumpy roads, the following methods are generally used in related prior arts to perform image stabilization:

[0004] (1) The image stabilization method of the camera using optical image stabilization. However, cameras with optical image stabilization are often very expensive and difficult to promote and apply on a large scale at low cost. In addition, optical image stabilization cannot eliminate the change in the angle of view and the large fluctuation in the image caused by the tilt of the car body when turning at high speed and the ups and downs of the undulating road surface.

[0005] (2) Mechanical structures such as springs are used to slow down the bumps and vibrations of the vehicle. However, since the spring has a certain expansion and contraction torque and its torque will change with the increase of compression or tension deformation, and the spring has the characteristic of vibration rebound, under a small torque state, the camera will cause a small bump and vibration, which is not conducive to the stability of the vehicle under small vibrations. Summary of the invention

[0006] In view of the above problems in the prior art, the purpose of this specification is to provide a vehicle-mounted image acquisition control system, method, device, equipment and storage medium, which can effectively improve the timeliness and accuracy of image anti-shake and control by combining small vibration passive anti-shake with large tilt active correction, thereby improving the stability of vehicle-mounted image acquisition. To achieve the above purpose, this specification provides the following solutions:

[0007] A vehicle-mounted image acquisition control system, the system comprising: a vehicle-mounted controller, a first inertial measurement sensor and an image acquisition component; the image acquisition component comprising: an electromagnetic torque control unit, a closed cavity and a camera component located inside the closed cavity, wherein a liquid object is sealed and filled between the closed cavity and the camera component; the first inertial measurement sensor, the camera component and the electromagnetic torque control unit are electrically connected to the vehicle-mounted controller respectively, wherein:

[0008] The first inertial measurement sensor is used to collect driving posture data of the current vehicle; and send the driving posture data to the vehicle controller;

[0009] The vehicle-mounted controller is used to perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition; and send the torque control data to the electromagnetic torque control unit;

[0010] The electromagnetic torque control unit is used to generate an electromagnetic torque corresponding to the torque control data to perform follow-up control on the suspension posture of the camera assembly in the liquid object.

[0011] The present application also discloses a vehicle-mounted image acquisition control method, which is implemented based on the vehicle-mounted image acquisition control system as described above, and includes:

[0012] Get the driving posture data of the current vehicle;

[0013] When the driving posture data satisfies a preset vehicle posture change condition, performing posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data;

[0014] The electromagnetic torque control unit is controlled to generate an electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object in the closed cavity.

[0015] The present application also discloses a vehicle-mounted image acquisition control device, which is implemented based on the above-mentioned vehicle-mounted image acquisition control system, and includes:

[0016] A driving posture data acquisition module is used to acquire the driving posture data of the current vehicle;

[0017] A posture adjustment analysis module, used to perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition;

[0018] The torque control module is used to control the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object.

[0019] The present application also discloses a vehicle-mounted image acquisition control device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted image acquisition control method as described above.

[0020] The present application also discloses a computer-readable storage medium, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by a processor to implement the above-mentioned vehicle-mounted image acquisition control method.

[0021] Compared with the prior art, the present application has obvious advantages and beneficial effects. By means of the above technical solution, the present application provides a vehicle-mounted image acquisition control system, method, device, equipment and storage medium, which can achieve considerable technical advancement and practicality, and has wide industrial utilization value, and has the following technical effects:

[0022] The technical solution provided by the present application is to set the vehicle-mounted image acquisition component in a closed cavity filled with a liquid object, and use the first inertial measurement sensor to collect the driving posture data of the current vehicle. When the driving posture data does not meet the preset vehicle posture change conditions (that is, the current vehicle only has slight bumps), the inertia and low resistance of the suspension are used to filter out transient acceleration and angle variables to achieve passive anti-shake for the image acquisition of the camera component. When the driving posture data meets the preset vehicle posture change conditions (that is, the current vehicle has a large tilt or bump), the vehicle-mounted controller performs posture adjustment analysis on the camera component based on the driving posture data to obtain torque control data, and the electromagnetic torque control unit generates an electromagnetic torque corresponding to the torque control data to follow-up control of the suspension posture of the camera component in the liquid object. By combining passive anti-shake for small vibrations with active correction for large tilts, the timeliness and accuracy of image anti-shake and control can be effectively improved, and the image jitter and field of view tilt generated during vehicle driving can be reduced, thereby improving the stability of vehicle-mounted image acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0025] Figure 2 It is a schematic diagram of the architecture of a vehicle-mounted image acquisition and control system provided in an embodiment of the present application;

[0026] Figure 3 is a structural schematic diagram of an image acquisition component provided in an embodiment of the present application;

[0027] Figure 4is a structural schematic diagram of another image acquisition component provided in an embodiment of the present application;

[0028] Figure 5 It is a flowchart of a vehicle-mounted image acquisition control method provided in an embodiment of the present application;

[0029] Figure 6 It is a schematic diagram of an angle correction of a camera assembly provided in an embodiment of the present application;

[0030] Figure 7 It is a schematic diagram of speed following of a camera assembly provided by an embodiment of the present application;

[0031] Figure 8 It is a flowchart of another vehicle-mounted image acquisition control method provided in an embodiment of the present application;

[0032] Fig. 9 It is a data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] In several embodiments provided in this application, the described system embodiments are only schematic, for example, the division of the above modules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of modules or units, which may be electrical or other forms.

[0035] See also Figure 1 , Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application, such as Figure 1 As shown, the above application environment includes: a target vehicle 10 and a vehicle-mounted image acquisition control system 20. Specifically, the vehicle-mounted image acquisition control system can be mounted on the target vehicle to acquire the environment image of the target vehicle and perform image anti-shake and deviation correction processing.

[0036] In a specific embodiment, the vehicle-mounted image acquisition and control system may be an acquisition and control system for forward-view images.

[0037] In a specific embodiment, the vehicle type of the target vehicle may include, but is not limited to: an electric motorcycle, a new energy vehicle, etc.

[0038] The following describes an on-vehicle image acquisition and control system provided by an embodiment of the present application, specifically, Figure 2 and Figure 3 As shown, the system may include: an on-board controller 100, a first inertial measurement sensor 200 and an image acquisition component 300; the image acquisition component includes: an electromagnetic torque control unit 310, a closed cavity 320 and a camera component 330 located inside the closed cavity, and a liquid object 340 is sealed and filled between the closed cavity 320 and the camera component 330; the first inertial measurement sensor 200, the camera component 330 and the electromagnetic torque control unit 310 are electrically connected to the on-board controller 100 respectively, wherein:

[0039] The first inertial measurement sensor 200 is used to collect the driving posture data of the current vehicle and send the driving posture data to the vehicle controller 100;

[0040] The vehicle controller 100 is used to perform posture adjustment analysis on the camera assembly 330 based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition; and send the torque control data to the electromagnetic torque control unit 310;

[0041] The electromagnetic torque control unit 310 is used to generate an electromagnetic torque corresponding to the torque control data to perform follow-up control on the suspension posture of the camera assembly 330 in the liquid object 340.

[0042] In a specific embodiment, the first inertial measurement sensor 200 may include: an accelerometer and a gyroscope sensor, etc. Schematically, the accelerometer may be a three-axis accelerometer, and the gyroscope sensor may be a three-axis gyroscope sensor. In an optional embodiment, the first inertial measurement sensor 200 may be built into the vehicle controller 100, or may be independently set in the vehicle.

[0043] In a specific embodiment, the driving posture data of the current vehicle may refer to the driving posture data of the current vehicle in a three-dimensional space. Specifically, the three-dimensional space here can be positioned and described by a whole vehicle coordinate system, and the whole vehicle coordinate system may be composed of an X-axis, a Y-axis, and a Z-axis. The X-axis represents the longitudinal direction of the vehicle (the forward and backward direction of the vehicle), the Y-axis represents the lateral direction of the vehicle (the width direction of the vehicle body), and the Z-axis represents the vertical direction of the vehicle. Schematically, the positive direction of the X-axis represents the forward direction of the vehicle pointing along the center line of the vehicle, the negative direction of the X-axis represents the backward direction of the vehicle, the positive direction of the Y-axis represents the right side of the vehicle, the negative direction of the Y-axis represents the left side of the vehicle, the positive direction of the Z-axis represents the top of the vehicle, and the negative direction of the Z-axis represents the bottom of the vehicle.

[0044] In a specific embodiment, the sealed cavity 320 may be a spherical cavity, the sealed cavity 320 is filled with a liquid object 340, and the camera assembly 330 is suspended in the liquid object 340. In an optional embodiment, the liquid object 340 is insulating and non-magnetic, and preferably, the liquid object 340 may be an oily substance.

[0045] In a specific embodiment, the camera assembly 330 may include: a camera unit 331 and a assembly shell 332 mounted on the outside of the camera unit 331, and the electromagnetic torque control unit 310 may include: multiple groups of torque control units, each group of torque control units including: two first torque control units 311 fixed on the outside of the closed cavity and a second torque control unit 312 fixed on the inside of the assembly shell.

[0046] In a specific embodiment, the component housing 332 may be a spherical housing, and the camera unit 331 passes through one side of the component housing 332 , wherein the camera unit 331 is fixedly connected to the penetration portion of the component housing 332 .

[0047] In a specific embodiment, the two first torque control units 311 in each set of torque control units may be electromagnet units with the same magnetic poles, and optionally, the second torque control unit 312 in each set of torque control units may be a magnetic metal unit or an electromagnet unit. Schematically, the electromagnet unit may be an electromagnet point unit.

[0048] In an optional embodiment, the multiple groups of torque control units may include: at least two groups of torque control units corresponding to each of the multiple axial directions, and the multiple axial directions may include an X-axis, a Y-axis, and a Z-axis; accordingly, the multiple groups of torque control units may include: at least two groups of torque control units corresponding to the X-axis (used to adjust the speed of the camera unit 331 with respect to the X-axis in acceleration and deceleration scenarios), at least two groups of torque control units corresponding to the Y-axis (used to adjust the yaw angle of the camera unit 331 with respect to the Y-axis in left and right turning scenarios), and at least two groups of torque control units corresponding to the Z-axis (used to adjust the pitch angle of the camera unit 331 with respect to the Z-axis in uphill and downhill scenarios, and to adjust the speed of the camera unit 331 with respect to the Z-axis in up and down bumpy scenarios). Schematically, when two groups of torque control units are provided for each axial direction, the two groups of torque control units may be used as follows: Figure 3 The opposite setting shown ( Figure 3 Only two groups of torque control units corresponding to the Z axis are shown), when three groups of torque control units are provided in each axial direction, the three groups of torque control units can be used as follows Figure 4 The isosceles triangle-like setting shown in the figure is shown in the figure. Figure 4 Only three groups of torque control units corresponding to the Z axis are shown. Specifically, by changing the torque variation between the multiple groups of torque control units, the posture data (eg, relative position, rotation angle, and acceleration) of the camera unit 331 inside the closed cavity 320 can be dynamically adjusted.

[0049] In a specific embodiment, the camera unit 331 penetrates one side of the sealed cavity 320 so that the camera lens of the camera unit 331 faces the outside of the sealed cavity 320, wherein a flexible sealing material is used at the through connection 350 between the camera unit 331 and the sealed cavity 320. In an optional embodiment, the flexible sealing material includes but is not limited to: rubber, silicone, etc.

[0050] Specifically, since the camera assembly 330 is suspended in the liquid object 340, and the through-connection 350 between the camera unit 331 and the closed cavity 320 is made of flexible sealing material, when the suspension posture of the camera assembly 330 changes, the lens orientation of the camera unit 331 changes accordingly; when the current vehicle's driving posture data does not meet the preset vehicle posture change conditions (that is, the current vehicle only experiences slight bumps), the inertia and low resistance of the suspension are used to filter out transient acceleration and angle variables, thereby realizing passive anti-shake of the image acquisition of the camera unit 331; when the current vehicle's driving posture data meets the preset vehicle posture change conditions In the case of changing conditions (i.e., the current vehicle is tilted or bumped significantly), the electromagnetic torque generated by the electromagnetic torque control unit 310 is used to follow the suspension posture of the camera assembly 330. Schematically, when the current vehicle is tilted significantly, the camera assembly 330 is controlled to follow in the opposite direction to reduce the tilt of the lens field of view caused by the transient angle change. When the current vehicle has a significant speed change, the camera assembly 330 is controlled to follow the speed slowly to ensure that the camera maintains stable acceleration and deceleration in each axis during driving, thereby reducing the severe bumps generated during the vehicle's driving and causing instantaneous jitter of the image.

[0051] In a specific embodiment, a second inertial measurement sensor is provided in the camera unit 331, and the second inertial measurement sensor is used to detect the posture data of the camera unit 331 to correct the torque control data. Specifically, the second inertial measurement sensor may include: an accelerometer and a gyroscope sensor, etc. Schematically, the accelerometer may be a three-axis accelerometer, and the gyroscope sensor may be a three-axis gyroscope sensor.

[0052] In a specific embodiment, the camera assembly 330 is electrically connected to the vehicle controller 100 via the waterproof cable 360, and the waterproof cable 326 passes through the sealed cavity 320 and the assembly housing 360 to be electrically connected to the camera assembly 330. Optionally, the waterproof cable 360 ​​can be a flexible waterproof cable.

[0053] It can be seen from the above-mentioned embodiments of the vehicle-mounted image acquisition control system provided by the present application that, using the technical solution provided by the present application, the vehicle-mounted image acquisition component is set in a closed cavity filled with a liquid object, and the first inertial measurement sensor is used to collect the driving posture data of the current vehicle. When the driving posture data does not meet the preset vehicle posture change conditions (that is, the current vehicle only has a slight bump), the inertia and low resistance of the suspension are used to filter the transient acceleration and angle variables to achieve passive anti-shake for the image acquisition of the camera component. When the driving posture data meets the preset vehicle posture change conditions (that is, the current vehicle has a large tilt or bump), the vehicle-mounted controller performs posture adjustment analysis on the camera component based on the driving posture data to obtain torque control data, and the electromagnetic torque control unit generates an electromagnetic torque corresponding to the torque control data to follow the suspension posture of the camera component in the liquid object. By combining the passive anti-shake of small vibrations with the active correction of large tilts, the timeliness and accuracy of image anti-shake and control can be effectively improved, and the image jitter and field of view tilt generated during vehicle driving can be reduced, thereby improving the stability of vehicle-mounted image acquisition.

[0054] On the other hand, the embodiment of the present application further provides a vehicle-mounted image acquisition control method, which is implemented based on the vehicle-mounted image acquisition control system as described above. Figure 5 It is a flow chart of a vehicle-mounted image acquisition control method provided by an embodiment of the present application. The present application provides method operation steps as described in the embodiment or flow chart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment).

[0055] Specifically, Figure 5 As shown, the method specifically comprises the following steps:

[0056] S501, obtaining the driving posture data of the current vehicle.

[0057] In the embodiments of this specification, the driving posture data can be used to characterize the posture change of the current vehicle during driving. Specifically, the driving posture data can include but is not limited to: vehicle inclination data, angular velocity data corresponding to the vehicle inclination data (angular velocity data at the time of collecting the vehicle inclination data), acceleration data, and vehicle speed data corresponding to the acceleration data (speed data at the time of collecting the acceleration data). In a specific embodiment, the driving posture data may include: vehicle posture data (first posture data) corresponding to the X-axis (i.e., the front and rear direction), vehicle posture data (second posture data) corresponding to the Y-axis (i.e., the left and right direction), and vehicle posture data (third posture data) corresponding to the Z-axis (i.e., the vertical direction). Accordingly, the first posture data may include: inclination data corresponding to the X-axis, angular velocity data corresponding to the inclination data, acceleration data corresponding to the X-axis, and vehicle speed data corresponding to the acceleration data; the second posture data may include: inclination data corresponding to the Y-axis, angular velocity data corresponding to the inclination data, acceleration data corresponding to the Y-axis, and vehicle speed data corresponding to the acceleration data; the third posture data may include: inclination data corresponding to the Z-axis, angular velocity data corresponding to the inclination data, acceleration data corresponding to the Z-axis, and vehicle speed data corresponding to the acceleration data.

[0058] S502, when the driving posture data meets the preset vehicle posture change condition, the camera component is subjected to posture adjustment analysis based on the driving posture data to obtain torque control data.

[0059] In the embodiments of the present specification, the preset vehicle posture change condition may be a preset condition for determining the degree of vehicle posture change. Specifically, when the driving posture data meets the preset vehicle posture change condition, it is considered that the current vehicle has undergone a significant posture change; when the driving posture data does not meet the preset vehicle posture change condition, it is considered that the current vehicle has undergone only a minor posture change.

[0060] In an optional embodiment, the preset vehicle posture change condition may include: a preset tilt angle change condition and a preset vehicle speed change condition, and the preset tilt angle change condition and the preset vehicle speed change condition may be preset in combination with the image correction control requirements and image anti-shake control requirements in actual applications. In an optional embodiment, the preset tilt angle change condition may be set to: whether the current tilt angle data is greater than a preset tilt angle threshold, schematically, the preset tilt angle threshold has a value range of 15° to 30°; in an optional embodiment, the preset vehicle speed change condition may be set to: whether the current acceleration data is greater than a preset acceleration threshold, schematically, the preset acceleration threshold has a value range of 5km / h to 20km / h.

[0061] In the embodiments of the present specification, the torque control data may be control data for instructing the electromagnetic torque control unit to generate electromagnetic torque. Specifically, the torque control data may include: a torque magnitude parameter and a torque direction parameter.

[0062] S503, controlling the electromagnetic torque control unit to generate an electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object in the closed cavity.

[0063] In the embodiments of the present specification, the electromagnetic torque generated by the electromagnetic torque control unit is used to adjust the suspension posture of the camera assembly in the liquid object to reduce the impact of large changes in the vehicle posture on image acquisition and ensure the stability of image acquisition.

[0064] In an optional embodiment, the driving posture data may include: inclination data corresponding to the target direction and angular velocity data corresponding to the inclination data, the preset vehicle posture change condition includes: preset inclination change condition, and the torque control data may include: reverse angle torque control data corresponding to the target direction. When the driving posture data satisfies the preset vehicle posture change condition, the posture adjustment analysis of the camera assembly is performed based on the driving posture data, and the torque control data may include:

[0065] S5021, when the inclination data corresponding to the target direction meets the preset inclination change condition, based on the angular velocity data, performing inclination adjustment analysis on the camera component to obtain reverse angular torque control data;

[0066] The electromagnetic torque corresponding to the torque control data generated by the electromagnetic torque control unit may include:

[0067] S5031, controlling the electromagnetic torque control unit to generate a reverse angular torque corresponding to the reverse angular torque control data, so that the camera field of view of the camera assembly is always in a horizontal state.

[0068] Specifically, Figure 6 As shown, the electromagnetic torque control unit is controlled to generate a reverse angular torque corresponding to the offset direction of the vehicle to control the camera assembly to rotate in the opposite direction of the offset direction, so that the camera field of view of the camera assembly is always in a horizontal state.

[0069] In a specific embodiment, the process of performing tilt adjustment analysis on the camera assembly based on the angular velocity data to obtain the reverse angular torque control data can be expressed as the following tilt adjustment formula: θ =ρ θ (1+a θ )|V θ |, where V θ Indicates the angular velocity data corresponding to the inclination data θ, F'θ represents the magnitude of the reverse angular moment, ρ θ and a θ is the preset calibration parameter. In practical applications, ρ θ and a θ The best recommended value can be obtained through experimental data.

[0070] In an optional embodiment, the target direction may be the left-right direction (Y-axis). When the inclination data generated along the Y-axis satisfies the preset inclination change condition, the camera assembly is subjected to inclination adjustment analysis based on the angular velocity data corresponding to the inclination data, and the reverse angular torque control data in the left-right direction is obtained. The multiple groups of torque control units located at the longitudinal section position of the Y-axis in the electromagnetic torque control unit are controlled to generate reverse angular torques in the left-right direction. Schematically, the inclination adjustment formula in the left-right direction may be expressed as:

[0071] F' θy =ρ θy (1+a θy )|V θy |, where V θy Represents the angular velocity data generated along the Y axis, F' θy Indicates the magnitude of the reverse angular moment in the left and right directions.

[0072] For example, when the vehicle tilts 30° to the left along the Y-axis, the current angular velocity data generated along the Y-axis can be collected, and the reverse angular torque control data in the left and right directions can be calculated through the inclination adjustment formula in the left and right directions. The multiple groups of torque control units located in the longitudinal section of the Y-axis in the electromagnetic torque control unit are controlled to generate corresponding reverse angular torques, so as to accurately control the camera assembly to rotate 30° in the opposite direction (i.e. to the right) to ensure that the camera field of view is always in a horizontal state (to correct the left and right deflection of the vehicle body).

[0073] In an optional embodiment, the target direction may be a vertical direction (Z axis). When the inclination data generated along the Z axis satisfies a preset inclination change condition, the camera assembly is subjected to an inclination adjustment analysis based on the angular velocity data corresponding to the inclination data, and vertical reverse angular torque control data is obtained. The multiple groups of torque control units located at the longitudinal section of the Z axis in the electromagnetic torque control unit are controlled to generate vertical reverse angular torques. Schematically, the vertical inclination adjustment formula may be expressed as:

[0074] F' θz =ρ θz (1+a θz )|V θz |, where V θz Represents the angular velocity data generated along the Z axis, F' θz Indicates the magnitude of the reverse angular moment in the vertical direction.

[0075] For example, when the vehicle's front end tilts downward by 30° along the Z-axis, the current angular velocity data generated along the Z-axis can be collected, and the reverse angular torque control data in the vertical direction can be calculated through the vertical tilt angle adjustment formula. The multiple groups of torque control units located in the longitudinal section of the Z-axis in the electromagnetic torque control unit can be controlled to generate corresponding reverse angular torques to accurately control the camera assembly to rotate 30° in the opposite direction (i.e. upward) to ensure that the camera field of view is always in a horizontal state (to correct the left and right deflection of the front end).

[0076] It can be seen from the above embodiments that when the vehicle tilts significantly, the camera assembly is subjected to tilt adjustment analysis based on the angular velocity data corresponding to the tilt angle, and reverse angular torque control data is obtained. The electromagnetic torque control unit is controlled to generate a reverse angular torque corresponding to the offset direction of the vehicle, so as to control the camera assembly to rotate in the opposite direction of the offset direction, thereby keeping the camera field of view of the camera assembly in a horizontal state at all times, and reducing the tilt of the lens field of view caused by transient angle changes.

[0077] In an optional embodiment, the driving posture data includes: acceleration data corresponding to the target direction and vehicle speed data corresponding to the acceleration data, the preset vehicle posture change condition includes: preset vehicle speed change condition, and the torque control data includes: same-direction torque control data corresponding to the target direction. When the driving posture data satisfies the preset vehicle posture change condition, the posture adjustment analysis of the camera component is performed based on the driving posture data, and the torque control data obtained may include:

[0078] S5022, when the acceleration data corresponding to the target direction meets the preset vehicle speed change condition, based on the acceleration data, the camera component is subjected to speed adjustment analysis to obtain the same direction torque control data;

[0079] The electromagnetic torque corresponding to the torque control data generated by the electromagnetic torque control unit may include:

[0080] S5032, controlling the electromagnetic torque control unit to generate a same-direction torque corresponding to the same-direction torque control data, so that the speed data of the target direction of the camera assembly is adjusted to the vehicle speed data.

[0081] Specifically, Figure 7 As shown, the electromagnetic torque control unit is controlled to generate a torque in the same direction as the target direction, so as to control the speed data V' of the camera component along the target direction to be adjusted to the vehicle speed data V within T time, so as to ensure that the speed change of the camera in the target direction remains smooth when the camera is in the speed following state, thereby ensuring the stability of image acquisition.

[0082] In a specific embodiment, the above process of performing speed adjustment analysis on the camera assembly based on acceleration data to obtain the same direction torque control data can be expressed as the following speed adjustment formula: F'=ρ(1+a)|g|, where g represents acceleration data, F θ Indicates the magnitude of the unidirectional moment, ρ and a are preset calibration parameters. In practical applications, ρ and a can be used to obtain the best recommended values ​​through experimental data.

[0083] In an optional embodiment, the target direction may be the front-to-back direction (X-axis). When the forward acceleration data generated along the X-axis meets the preset vehicle speed change condition, the camera assembly is subjected to speed adjustment analysis based on the acceleration data to obtain the same-direction torque control data in the front-to-back direction, and the multiple groups of torque control units located in the front-to-rear position of the X-axis in the electromagnetic torque control unit are controlled to generate longitudinal torque in the forward direction (in the same direction as the acceleration direction). Schematically, the speed adjustment formula in the front-to-rear direction may be expressed as:

[0084] F' x =ρ x (1+a x )|g x |, where g x Represents the acceleration data generated along the X-axis, F' x Indicates the magnitude of the longitudinal moment in the front-to-back direction.

[0085] For example, when the vehicle generates a forward acceleration g along the X-axis direction x (Acceleration and deceleration scenario), the vehicle speed data V generated along the current X-axis can be collected x , the forward unidirectional torque control data is calculated through the speed adjustment formula in the front and rear directions, and the multiple torque control units located in the front and rear positions of the X-axis in the electromagnetic torque control unit are controlled to generate corresponding longitudinal torques, so as to accurately control the camera assembly from the current speed V' x Delay (at T x time) to accelerate to the current vehicle speed V x , to ensure that the camera's forward and backward offset speed remains smooth and stable in the speed following state, where T x The optimal adjustment time can be obtained through experimental data. Schematically, T x It can be 0.5 seconds.

[0086] In an optional embodiment, the target direction may be a vertical direction (Z axis). When the upward acceleration data generated along the Z axis meets the preset vehicle speed change condition, the camera assembly is subjected to posture adjustment analysis based on the acceleration data to obtain the vertical unidirectional torque control data, and the multiple groups of torque control units located at the upper and lower positions of the Z axis in the electromagnetic torque control unit are controlled to generate an upward longitudinal torque (in the same direction as the acceleration direction). Schematically, the speed adjustment formula in the vertical direction may be expressed as:

[0087] F' z =ρ z (1+a z )|g z |, where g z Represents the acceleration data generated along the Z axis, F' z Indicates the magnitude of the longitudinal moment in the vertical direction.

[0088] For example, when the vehicle generates an upward acceleration g along the Z-axis direction z (up and down bump scene), the vehicle speed data V generated along the Z axis can be collected z , the upward torque control data is calculated through the vertical speed adjustment formula, and the multiple torque control units located at the upper and lower positions of the Z axis in the electromagnetic torque control unit are controlled to generate corresponding longitudinal torques to accurately control the camera assembly from the current speed V' z Delay (at T z time) to accelerate to the current vehicle speed V z , to ensure that the speed of the camera's up and down deviation remains smooth and stable in the speed following state, where T z The optimal adjustment time can be obtained through experimental data. Schematically, T z It can be 0.5 seconds.

[0089] In an optional embodiment, when the target direction is a vertical direction, the above-mentioned speed adjustment analysis of the camera assembly based on the acceleration data to obtain the same direction torque control data may include:

[0090] Based on the acceleration data and the preset torque control data, the speed regulation analysis of the camera assembly is performed to obtain the same-direction torque control data. The preset torque control data is used to adjust the difference between the camera assembly's own gravity and the buoyancy it is subjected to.

[0091] Specifically, when the gravity of the camera assembly itself is not equal to the buoyancy, the camera assembly cannot remain suspended in the liquid object. Therefore, the electromagnetic torque control unit is required to generate a corresponding preset torque to adjust the difference between the gravity of the camera assembly itself and the buoyancy, so that the camera assembly remains suspended in the liquid object. Accordingly, the vertical speed adjustment formula can be expressed as:

[0092] F' z =ρ z (1+a z )|g z |+b, where g z represents the acceleration data generated along the Z axis, b represents the longitudinal moment used to adjust the difference between the camera component's own gravity and the buoyancy it receives in the initial state, and F' z Indicates the magnitude of the longitudinal moment in the vertical direction.

[0093] It can be seen from the above embodiments that in order to ensure that the camera maintains stable acceleration and deceleration in each axis during driving, when the vehicle has a large speed change, the camera component is speed regulated and analyzed based on the acceleration data corresponding to the target direction, and the same-direction torque control data is obtained. The electromagnetic torque control unit is controlled to generate the same-direction torque corresponding to the target direction, so as to control the speed data of the camera component to delay the follow-up, thereby ensuring that the speed change of the target direction of the camera remains smooth when the camera is in the speed following state, thereby reducing the instantaneous jitter of the image caused by the severe bumps generated during the vehicle driving.

[0094] In an optional embodiment, when the vehicle has both an angle offset and a speed change, the reverse angular torque control data corresponding to the angle offset and the unidirectional torque control data corresponding to the speed change can be calculated respectively, and the electromagnetic torque control unit can generate a corresponding superimposed torque.

[0095] In an optional embodiment, if Figure 8 As shown, the above method may also include:

[0096] S504, detecting the posture data of the camera unit in the camera assembly during the process of controlling the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data;

[0097] S505, correcting the torque control data based on the posture data.

[0098] Specifically, in the process of controlling the electromagnetic torque control unit to generate an electromagnetic torque corresponding to the torque control data, the posture data of the camera unit in the camera assembly is detected. When the posture data of the camera unit does not reach the expected adjustment posture (for example, the expected inclination angle, the expected speed, etc.), the torque control data can be corrected, so that the camera unit can be adjusted to the expected adjustment posture based on the corrected torque control data.

[0099] It can be seen from the above-mentioned embodiments of the vehicle-mounted image acquisition control method provided by the present application that, using the technical solution provided by the present application, when the driving posture data meets the preset vehicle posture change condition (that is, the current vehicle is significantly tilted or bumpy), the camera assembly is subjected to posture adjustment analysis based on the driving posture data to obtain torque control data, and the electromagnetic torque control unit generates an electromagnetic torque corresponding to the torque control data to perform follow-up control on the suspension posture of the camera assembly in the liquid object. When the vehicle is significantly tilted, the camera assembly is subjected to inclination adjustment analysis based on the angular velocity data corresponding to the inclination angle to obtain reverse angular torque control data, and the electromagnetic torque control unit is controlled to generate a reverse angular torque corresponding to the vehicle offset direction to control the camera assembly in the opposite direction of the offset direction. Rotate so that the camera field of view of the camera assembly is always in a horizontal state, reducing the tilt of the lens field of view caused by transient angle changes; in the case of a large speed change of the vehicle, based on the acceleration data corresponding to the target direction, the speed adjustment analysis of the camera assembly is performed to obtain the same-direction torque control data, and the electromagnetic torque control unit is controlled to generate the same-direction torque corresponding to the target direction, so as to control the speed data of the camera assembly to delay the follow-up, ensuring that the speed change of the target direction of the camera remains smooth when the camera is in the speed following state, reducing the instantaneous jitter of the image caused by the severe bumps generated by the camera module during the driving of the vehicle, which can effectively improve the timeliness and accuracy of image anti-shake and control, reduce image jitter and field of view tilt generated during the driving of the vehicle, thereby improving the stability of vehicle-mounted image acquisition.

[0100] On the other hand, the embodiment of the present application further provides a vehicle-mounted image acquisition control device, which is implemented based on the vehicle-mounted image acquisition control system as described above. Fig. 9 As shown, the vehicle-mounted image acquisition control device may include:

[0101] A driving posture data acquisition module 910 is used to acquire the driving posture data of the current vehicle;

[0102] The posture adjustment analysis module 920 is used to perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition;

[0103] The torque control module 930 is used to control the electromagnetic torque control unit to generate an electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object.

[0104] In an optional embodiment, the driving posture data may include: inclination data corresponding to the target direction and angular velocity data corresponding to the inclination data, the preset vehicle posture change condition includes: preset inclination change condition, the torque control data may include: reverse angle torque control data corresponding to the target direction, and the posture adjustment analysis module 920 may include:

[0105] A first analysis submodule is used to perform tilt adjustment analysis on the camera assembly based on the angular velocity data to obtain reverse angular torque control data when the tilt angle data corresponding to the target direction meets the preset tilt angle change condition;

[0106] The torque control module 930 may include:

[0107] The first control submodule is used to control the electromagnetic torque control unit to generate a reverse angular torque corresponding to the reverse angular torque control data so that the camera field of view of the camera assembly is always in a horizontal state.

[0108] In an optional embodiment, the driving posture data includes: acceleration data corresponding to the target direction and vehicle speed data corresponding to the acceleration data, the preset vehicle posture change condition includes: preset vehicle speed change condition, the torque control data includes: in-direction torque control data corresponding to the target direction, and the posture adjustment analysis module 920 may include:

[0109] The second analysis submodule is used to perform speed adjustment analysis on the camera component based on the acceleration data to obtain the same-direction torque control data when the acceleration data corresponding to the target direction meets the preset vehicle speed change condition;

[0110] The torque control module 930 may include:

[0111] The second control submodule is used to control the electromagnetic torque control unit to generate a same-direction torque corresponding to the same-direction torque control data, so that the speed data of the target direction of the camera assembly is adjusted to the vehicle speed data.

[0112] In an optional embodiment, when the target direction is a vertical direction, the second analysis submodule may include:

[0113] The third analysis submodule is used to perform speed regulation analysis on the camera assembly based on the acceleration data and the preset torque control data to obtain the same direction torque control data. The preset torque control data is used to adjust the difference between the camera assembly's own gravity and the buoyancy it is subjected to.

[0114] In an optional embodiment, the above device may further include:

[0115] A camera attitude data detection module, used to detect attitude data of a camera unit in a camera assembly during a process of controlling an electromagnetic torque control unit to generate an electromagnetic torque corresponding to torque control data;

[0116] The torque control data correction module is used to correct the torque control data based on the posture data.

[0117] It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.

[0118] On the other hand, an embodiment of the present application provides a vehicle-mounted image acquisition control device, which includes a processor and a memory, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted image acquisition control method provided in the above method embodiment.

[0119] On the other hand, an embodiment of the present application also provides a computer-readable storage medium, which can be set in a vehicle-mounted image acquisition control device to store at least one instruction or at least one program related to the vehicle-mounted image acquisition control method in the method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted image acquisition control method provided by the above-mentioned method embodiment.

[0120] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0121] It should be noted that, for the convenience of description, the aforementioned method embodiments are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, some steps can be performed in other sequences or simultaneously. In addition, the above embodiments can be arbitrarily combined to obtain other embodiments.

[0122] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in certain embodiments, please refer to the relevant description of other embodiments. Those skilled in the art may also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention may be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps mentioned above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the above functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0123] The above description has fully disclosed the specific embodiments of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific embodiments of the present invention do not deviate from the scope of the claims of the present invention. Accordingly, the scope of the claims of the present invention is not limited to the above specific embodiments.

Claims

1. A vehicle-mounted image acquisition and control system, characterized in that: The system comprises: an on-board controller, a first inertial measurement sensor and an image acquisition component; the image acquisition component comprises: an electromagnetic torque control unit, a closed cavity and a camera component located inside the closed cavity, and a liquid object is sealed and filled between the closed cavity and the camera component; the first inertial measurement sensor, the camera component and the electromagnetic torque control unit are electrically connected to the on-board controller respectively, wherein: The first inertial measurement sensor is used to collect driving posture data of the current vehicle; and send the driving posture data to the vehicle controller; The vehicle-mounted controller is used to perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition; and send the torque control data to the electromagnetic torque control unit; The electromagnetic torque control unit is used to generate an electromagnetic torque corresponding to the torque control data to perform follow-up control on the suspension posture of the camera assembly in the liquid object.

2. The system according to claim 1, characterized in that The camera assembly includes: a camera unit and a component shell mounted on the outside of the camera unit, and the electromagnetic torque control unit includes: multiple groups of torque control units, each group of torque control units includes: two first torque control units fixed on the outside of the closed cavity and a second torque control unit fixed on the inside of the component shell.

3. The system according to claim 2, characterized in that The camera unit penetrates one side of the sealed cavity so that the camera lens of the camera unit faces the outside of the sealed cavity, wherein a flexible sealing material is used at the penetration connection between the camera unit and the sealed cavity.

4. The system according to claim 2, characterized in that The camera unit is provided with a second inertial measurement sensor, and the second inertial measurement sensor is used to detect the posture data of the camera unit to correct the torque control data.

5. A vehicle-mounted image acquisition control method implemented based on the vehicle-mounted image acquisition control system according to any one of claims 1 to 4, characterized in that: The method comprises: Get the driving posture data of the current vehicle; When the driving posture data satisfies a preset vehicle posture change condition, performing posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data; The electromagnetic torque control unit is controlled to generate an electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object in the closed cavity.

6. The method according to claim 5, characterized in that The driving posture data includes: inclination data corresponding to the target direction and angular velocity data corresponding to the inclination data, the preset vehicle posture change condition includes: preset inclination change condition, the torque control data includes: reverse angle torque control data corresponding to the target direction, and when the driving posture data satisfies the preset vehicle posture change condition, the posture adjustment analysis of the camera component is performed based on the driving posture data, and the torque control data includes: When the inclination data corresponding to the target direction meets the preset inclination change condition, the camera assembly is subjected to inclination adjustment analysis based on the angular velocity data to obtain the reverse angular torque control data; The controlling electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data comprises: The electromagnetic torque control unit is controlled to generate a reverse angular torque corresponding to the reverse angular torque control data, so that the camera field of view of the camera assembly is always in a horizontal state.

7. The method according to claim 5, characterized in that The driving posture data includes: acceleration data corresponding to the target direction and vehicle speed data corresponding to the acceleration data; the preset vehicle posture change condition includes: preset vehicle speed change condition; the torque control data includes: same-direction torque control data corresponding to the target direction; when the driving posture data satisfies the preset vehicle posture change condition, the camera component is subjected to posture adjustment analysis based on the driving posture data, and the torque control data includes: When the acceleration data corresponding to the target direction meets the preset vehicle speed change condition, the camera assembly is subjected to speed adjustment analysis based on the acceleration data to obtain the same-direction torque control data; The controlling electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data comprises: The electromagnetic torque control unit is controlled to generate a same-direction torque corresponding to the same-direction torque control data, so that the speed data of the target direction of the camera assembly is adjusted to the vehicle speed data.

8. The method according to claim 7, characterized in that When the target direction is a vertical direction, the speed adjustment analysis of the camera assembly is performed based on the acceleration data to obtain the same direction torque control data, including: Based on the acceleration data and the preset torque control data, the camera assembly is subjected to speed regulation analysis to obtain the same-direction torque control data, and the preset torque control data is used to adjust the difference between the camera assembly's own gravity and the buoyancy it is subjected to.

9. The method according to any one of claims 5 to 8, characterized in that: The method further comprises: In the process of controlling the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data, detecting the posture data of the camera unit in the camera assembly; Based on the posture data, the torque control data is corrected.

10. A vehicle-mounted image acquisition control device implemented based on the vehicle-mounted image acquisition control system according to any one of claims 1 to 4, characterized in that: The device comprises: A driving posture data acquisition module is used to acquire the driving posture data of the current vehicle; A posture adjustment analysis module, used to perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data when the driving posture data meets the preset vehicle posture change condition; The torque control module is used to control the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data, so as to perform follow-up control on the suspension posture of the camera assembly in the liquid object.

11. A vehicle-mounted image acquisition control device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted image acquisition control method as described in any one of claims 5 to 9.

12. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted image acquisition control method as described in any one of claims 5 to 9.

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