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

Abstract

The application discloses a kind of vehicle image acquisition control systems, methods, devices, equipment and storage medium, the system includes: vehicle controller, first inertial measurement sensor and image acquisition component;Image acquisition component includes: electromagnetic torque control unit, closed cavity and camera assembly inside closed cavity, closed cavity and camera assembly between sealed filling with liquid object;First inertial measurement sensor is used to collect the driving posture data of current vehicle;Vehicle controller is used to satisfy the condition that vehicle posture changes in the case where preset is met, based on driving posture data, posture adjustment analysis of camera assembly obtains torque control data;Electromagnetic torque control unit is used to generate the electromagnetic torque corresponding to torque control data to follow-up control the suspension posture of the camera assembly in the liquid object.The technical scheme provided in the application can effectively improve the timeliness and accuracy of image anti-shake and correction.

Description

Technical Field

[0001] This specification 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 forward 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 back-end AI operations.

[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 existing technologies for image stabilization:

[0004] (1) Image stabilization using cameras with 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 changes in the field of view angle and large image fluctuations caused by the tilt of the car body during high-speed cornering 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 characteristics of vibration rebound, under the state of small torque, the camera will cause slight bumps and vibrations, which is not conducive to the stability of the vehicle under small vibrations. Summary of the Invention

[0006] To address the aforementioned issues in the prior art, this specification aims to provide an on-vehicle image acquisition control system, method, apparatus, device, and storage medium. By combining passive anti-shake for small vibrations with active correction for large tilts, this system can effectively improve the timeliness and accuracy of image anti-shake and control, thereby enhancing the stability of on-vehicle image acquisition. To achieve this objective, this specification provides the following solutions:

[0007] A vehicle-mounted image acquisition and control system, the system comprising: an on-board controller, a first inertial measurement sensor, and an image acquisition assembly; the image acquisition assembly comprising: an electromagnetic torque control unit, a sealed cavity, and a camera assembly located within the sealed cavity, wherein a liquid is sealed and filled between the sealed cavity and the camera assembly; the first inertial measurement sensor, the camera assembly, and the electromagnetic torque control unit are electrically connected to the on-board controller, 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 configured to, when the driving posture data satisfies a preset vehicle posture change condition, perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data; 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 above-mentioned vehicle-mounted image acquisition control system, and includes:

[0012] Get the current vehicle's driving posture data;

[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 obtain the driving posture data of the current vehicle;

[0017] a posture adjustment analysis module, configured 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 satisfies a 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 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, which stores at least one instruction or at least one program. The at least one instruction or 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 existing technology, this application has obvious advantages and beneficial effects. Through the above technical solutions, the vehicle-mounted image acquisition control system, method, device, equipment and storage medium of this application can achieve considerable technical advancement and practicality, and have wide industrial utilization value, and have the following technical effects:

[0022] The technical solution provided in this application places an on-board image acquisition assembly in a sealed cavity filled with a liquid object. A first inertial measurement sensor is used to collect driving posture data of the current vehicle. If the driving posture data does not meet preset vehicle posture change conditions (i.e., the current vehicle is only experiencing minor 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 camera assembly's image acquisition. If the driving posture data meets preset vehicle posture change conditions (i.e., the current vehicle is experiencing significant tilt or bumps), an on-board controller performs posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data. An electromagnetic torque control unit generates an electromagnetic torque corresponding to the torque control data to perform follow-up control on the camera assembly's suspension posture within the liquid object. By combining passive anti-shake for minor vibrations with active correction for major tilts, the timeliness and accuracy of image anti-shake and control can be effectively improved, image jitter and field of view tilt generated during vehicle driving can be reduced, and the stability of on-board image acquisition can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

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

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

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

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

[0028] Figure 5 This is a flow chart of a vehicle-mounted image acquisition control method provided by an embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of an embodiment of the present application providing an embodiment of an embodiment of a camera assembly for performing angle correction.

[0030] Figure 7 This is a schematic diagram of a speed tracking method for a camera assembly provided by an embodiment of the present application;

[0031] Figure 8 This is a flow chart of another vehicle-mounted image acquisition control method provided by an embodiment of the present application;

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

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 any creative efforts shall fall within the scope of protection of the present invention.

[0034] The system embodiments described in the various embodiments provided herein are merely illustrative. For example, the module division described above represents only one logical functional division. Actual implementations may employ alternative divisions, such as combining or integrating multiple modules or components into another system, or omitting or disabling certain features. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections between modules or units, either through interfaces or in electrical or other forms.

[0035] See also Figure 1 , Figure 1 This is a schematic diagram of an application environment provided by an embodiment of the present application, such as Figure 1 As shown, the application environment includes: a target vehicle 10 and a vehicle-mounted image acquisition and control system 20. Specifically, the vehicle-mounted image acquisition and control system can be mounted on the target vehicle to acquire an environmental image of the target vehicle and perform image stabilization and 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 sealed cavity 320, and a camera component 330 located inside the sealed cavity, and a liquid object 340 is sealed and filled between the sealed 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 current vehicle's driving posture data and send the driving posture data to the vehicle controller 100;

[0040] The vehicle controller 100 is configured 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 satisfies a preset vehicle posture change condition; and transmit 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. For example, 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 independently provided 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 three-dimensional space. Specifically, the three-dimensional space here can be positioned and described by the whole vehicle coordinate system. The whole vehicle coordinate system can 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. 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 component 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 component 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 can be electromagnet units with the same magnetic poles. Optionally, the second torque control unit 312 in each set of torque control units can be a magnetic metal unit or an electromagnet unit. Schematically, the electromagnet unit can 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 the X-axis, the Y-axis, and the 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 sets of torque control units corresponding to the Z axis are shown). When three sets of torque control units are provided in each axial direction, the three sets of torque control units can be used as follows Figure 4 The setup shown is similar to an isosceles triangle ( 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 (e.g., relative position, rotation angle, and acceleration) of the camera unit 331 inside the sealed cavity 320 can be dynamically adjusted.

[0049] In one 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. A flexible sealing material is used at the through-connection 350 between the camera unit 331 and the sealed cavity 320. In alternative embodiments, the flexible sealing material includes, but is not limited to, rubber, silicone, and the like.

[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 direction 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 to achieve passive anti-shake for 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 transient angle changes. 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 violent bumps generated during vehicle driving and causing instantaneous image jitter.

[0051] In a specific embodiment, the camera unit 331 is provided with a second inertial measurement sensor, which is used to detect 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. For example, 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 a waterproof cable 326. The waterproof cable 326 passes through the sealed cavity 320 and the assembly housing 332 to electrically connect to the camera assembly 330. Optionally, the waterproof cable 326 can be a flexible waterproof cable.

[0053] As can be seen from the above-mentioned embodiments of the vehicle-mounted image acquisition and control system provided by the present application, utilizing the technical solution provided by the present application, an on-board image acquisition assembly is disposed within a sealed cavity filled with a liquid object, and a first inertial measurement sensor is used to collect driving posture data of the current vehicle. If the driving posture data does not meet the preset vehicle posture change conditions (i.e., the current vehicle is experiencing only minor bumps), the inertia and low resistance of the suspension are utilized to filter out transient acceleration and angle variables, thereby achieving passive anti-shake for the image acquisition of the camera assembly. If the driving posture data meets the preset vehicle posture change conditions (i.e., the current vehicle is experiencing significant tilt or bumps), the on-board controller performs posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data. 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 within the liquid object. By combining passive anti-shake for minor vibrations with active correction for major tilts, the timeliness and accuracy of image anti-shake and control can be effectively improved, image jitter and field of view tilt generated during vehicle driving can be reduced, thereby improving the stability of on-board 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 above-mentioned vehicle-mounted image acquisition control system. 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 may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many, 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 (for example, in a parallel processor or multi-threaded processing environment) according to the method shown in the embodiment or the accompanying drawings. Specifically, Figure 5 As shown, the method specifically includes the following steps:

[0055] S501, obtaining the current vehicle's driving posture data.

[0056] In the embodiments of this specification, driving posture data can be used to characterize the posture changes of the current vehicle during driving. Specifically, the driving posture data may include, but is not limited to: vehicle tilt data, angular velocity data corresponding to the vehicle tilt data (angular velocity data at the time the vehicle tilt data is collected), acceleration data, and vehicle speed data corresponding to the acceleration data (speed data at the time the acceleration data is collected). In a specific embodiment, the driving posture data may include: vehicle posture data corresponding to the X-axis (i.e., the front-to-back direction) (first posture data), vehicle posture data corresponding to the Y-axis (i.e., the left-to-right direction) (second posture data), and vehicle posture data corresponding to the Z-axis (i.e., the vertical direction) (third posture data). Accordingly, the first posture data may include: tilt data corresponding to the X-axis, angular velocity data corresponding to the tilt data, acceleration data corresponding to the X-axis, and vehicle speed data corresponding to the acceleration data; the second posture data may include: tilt data corresponding to the Y-axis, angular velocity data corresponding to the tilt data, acceleration data corresponding to the Y-axis, and vehicle speed data corresponding to the acceleration data; and the third posture data may include: tilt data corresponding to the Z-axis, angular velocity data corresponding to the tilt data, acceleration data corresponding to the Z-axis, and vehicle speed data corresponding to the acceleration data.

[0057] S502 : When the driving posture data satisfies a preset vehicle posture change condition, a posture adjustment analysis is performed on the camera assembly based on the driving posture data to obtain torque control data.

[0058] In the embodiments of this specification, the preset vehicle posture change condition may be a preset condition for determining the degree of vehicle posture change. Specifically, if the driving posture data satisfies the preset vehicle posture change condition, it is considered that the current vehicle has undergone a significant posture change; if the driving posture data does not satisfy the preset vehicle posture change condition, it is considered that the current vehicle has undergone only a minor posture change.

[0059] 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. 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 stabilization 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. In an exemplary embodiment, 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. In an exemplary embodiment, the preset acceleration threshold has a value range of 5km / h to 20km / h.

[0060] In the embodiment of this 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.

[0061] 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.

[0062] In the embodiment of this 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 vehicle posture on image acquisition and ensure the stability of image acquisition.

[0063] 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 may include: a preset inclination change condition; the torque control data may include: 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 assembly is performed based on the driving posture data, and the torque control data obtained may include:

[0064] S5021: When the tilt angle data corresponding to the target direction satisfies a preset tilt angle change condition, performing tilt adjustment analysis on the camera assembly based on the angular velocity data to obtain reverse angular torque control data;

[0065] The electromagnetic torque control unit may generate the electromagnetic torque corresponding to the torque control data by:

[0066] 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.

[0067] Specifically, such as Figure 6 As shown, the electromagnetic torque control unit is controlled to generate a reverse angular torque corresponding to the vehicle offset direction 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.

[0068] In a specific embodiment, the process of performing tilt adjustment analysis on the camera assembly based on angular velocity data to obtain 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 torque, 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.

[0069] In an optional embodiment, the target direction may be the left-right direction (Y-axis). When the tilt angle data generated along the Y-axis satisfies a preset tilt angle change condition, the camera assembly is subjected to tilt adjustment analysis based on the angular velocity data corresponding to the tilt angle data to obtain left-right reverse angular torque control data. The electromagnetic torque control unit is then controlled to control multiple torque control units located in the Y-axis longitudinal section to generate left-right reverse angular torques. In schematic form, the left-right tilt angle adjustment formula may be expressed as:

[0070] F' θy = ρ θy (1+a θy )|V θy |, where V θy Indicates 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.

[0071] 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 left and right tilt angle adjustment formula, and the multiple groups of torque control units located in the longitudinal section of the Y-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., to the right) to ensure that the camera field of view is always in a horizontal state (correcting the left and right deflection of the vehicle body).

[0072] In an optional embodiment, the target direction may be the vertical direction (Z-axis). When the tilt angle data generated along the Z-axis satisfies a preset tilt angle change condition, the camera assembly is subjected to tilt adjustment analysis based on the angular velocity data corresponding to the tilt angle data to obtain vertical reverse angular torque control data. The plurality of torque control units located in the longitudinal section of the Z-axis in the electromagnetic torque control unit are controlled to generate vertical reverse angular torques. In schematic form, the vertical tilt angle adjustment formula may be expressed as:

[0073] F' θz = ρ θz (1+a θz )|V θz |, where V θz Indicates the angular velocity data generated along the Z axis, F' θz Indicates the magnitude of the reverse angular moment in the vertical direction.

[0074] 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 vertical reverse angular torque control data 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 are controlled to generate corresponding reverse angular torques to accurately control the camera assembly to rotate 30° in the opposite direction (i.e. upward), ensuring that the camera field of view is always in a horizontal state (correcting the left and right deflection of the front end).

[0075] 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 vehicle offset direction, 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.

[0076] 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: a preset vehicle speed change condition; the torque control data includes: unidirectional 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 assembly is performed based on the driving posture data, and the torque control data obtained may include:

[0077] S5022: 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 in-direction torque control data.

[0078] The electromagnetic torque control unit may generate the electromagnetic torque corresponding to the torque control data by:

[0079] S5032, controlling the electromagnetic torque control unit to generate a same-direction torque corresponding to the same-direction torque control data, so as to adjust the speed data of the target direction of the camera assembly to the vehicle speed data.

[0080] Specifically, such as Figure 7 As shown, the electromagnetic torque control unit is controlled to generate a torque in the same direction as the target direction to control the speed data V' of the camera component along the target direction to be adjusted to the vehicle speed data V within time T, ensuring that the speed change of the camera in the target direction remains smooth when it is in the speed following state, thereby ensuring the stability of image acquisition.

[0081] In a specific embodiment, the process of analyzing the camera assembly's speed regulation based on acceleration data to obtain the co-directional torque control data can be expressed as the following speed regulation formula: F' = ρ(1+a)|g|, where g represents the acceleration data, F' represents the co-directional torque, and ρ and a are preset calibration parameters. In actual applications, the optimal recommended values ​​for ρ and a can be determined based on experimental data.

[0082] 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 satisfies a preset vehicle speed change condition, the camera assembly is subjected to speed regulation analysis based on the acceleration data to obtain forward-to-back direction torque control data. Multiple torque control units located in the front and rear positions of the electromagnetic torque control unit are then controlled to generate longitudinal torque in the forward direction (in the same direction as the acceleration direction). In schematic form, the forward-to-back direction speed regulation formula may be expressed as:

[0083] F' x = ρ x (1+a x )|g x |, where g x Indicates the acceleration data generated along the X axis, F' x Indicates the magnitude of the longitudinal moment in the front-to-back direction.

[0084] 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 X axis can be collected x , calculate the forward unidirectional torque control data through the speed adjustment formula in the front and rear directions, and control the multiple torque control units in the front and rear positions of the electromagnetic torque control unit 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.

[0085] In an optional embodiment, the target direction may be the vertical direction (Z-axis). When the upward acceleration data generated along the Z-axis satisfies a preset vehicle speed change condition, the camera assembly is subjected to posture adjustment analysis based on the acceleration data to obtain vertical unidirectional torque control data. The multiple torque control units located above and below 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). In schematic form, the vertical speed adjustment formula may be expressed as:

[0086] F' z = ρ z (1+a z )|g z |, where g z Indicates the acceleration data generated along the Z axis, F' z Indicates the magnitude of the longitudinal moment in the vertical direction.

[0087] For example, when the vehicle generates an upward acceleration g along the Z axis z (up and down bump scene), the current vehicle speed data V generated along the Z axis can be collected z , calculate the upward torque control data by the vertical speed adjustment formula, and control the multiple torque control units located at the upper and lower positions of the Z axis in the electromagnetic torque control unit to generate corresponding longitudinal torques, so as 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 camera's up and down offset speed 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.

[0088] In an optional embodiment, when the target direction is vertical, 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:

[0089] Based on the acceleration data and the preset torque control data, the speed adjustment analysis of the camera component is performed to obtain the same-direction torque control data. The preset torque control data is used to adjust the difference between the camera component's own gravity and the buoyancy it experiences.

[0090] Specifically, when the camera assembly's own gravity is not equal to the buoyancy it experiences, 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 camera assembly's own gravity and the buoyancy it experiences, so that the camera assembly remains suspended in the liquid object. Accordingly, the vertical speed adjustment formula can be expressed as:

[0091] 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 torque 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.

[0092] 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-adjusted 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, and ensure that the speed change of the target direction of the camera remains smooth in the speed following state, thereby reducing the instantaneous jitter of the image caused by the violent bumps generated by the vehicle during driving.

[0093] 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.

[0094] In an optional embodiment, if Figure 8 As shown, the above method may further include:

[0095] S504, detecting 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;

[0096] S505: Correct the torque control data based on the posture data.

[0097] Specifically, in the process of controlling the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data, the posture data of the camera unit in the camera assembly is detected. If 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.

[0098] 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 conditions (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 tilt adjustment analysis based on the angular velocity data corresponding to the tilt 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, the speed adjustment analysis of the camera assembly is performed based on the acceleration data corresponding to the target direction, and the unidirectional torque control data is obtained. The electromagnetic torque control unit is controlled to generate the unidirectional 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 violent bumps generated by the vehicle during driving, which can effectively improve the timeliness and accuracy of image anti-shake and control, reduce image jitter and field of view tilt generated during vehicle driving, and thus improve the stability of vehicle-mounted image acquisition.

[0099] 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. Figure 9 As shown, the vehicle-mounted image acquisition control device may include:

[0100] A driving posture data acquisition module 910 is used to acquire the driving posture data of the current vehicle;

[0101] A posture adjustment analysis module 920 is configured 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 satisfies a preset vehicle posture change condition;

[0102] 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.

[0103] 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 may include: a 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:

[0104] A first analysis submodule is configured 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 a preset tilt angle change condition;

[0105] The torque control module 930 may include:

[0106] 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.

[0107] 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: a preset vehicle speed change condition; the torque control data includes: unidirectional torque control data corresponding to the target direction; and the posture adjustment analysis module 920 may include:

[0108] The second analysis submodule is configured to perform speed adjustment analysis on the camera assembly based on the acceleration data to obtain in-direction torque control data when the acceleration data corresponding to the target direction meets a preset vehicle speed change condition;

[0109] The torque control module 930 may include:

[0110] 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.

[0111] In an optional embodiment, when the target direction is a vertical direction, the second analysis submodule may include:

[0112] The third analysis submodule is used to perform speed regulation analysis on the camera component based on acceleration data and preset torque control data to obtain unidirectional torque control data. The preset torque control data is used to adjust the difference between the camera component's own gravity and the buoyancy it experiences.

[0113] In an optional embodiment, the above device may further include:

[0114] A camera attitude data detection module is used to detect attitude 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;

[0115] The torque control data correction module is used to correct the torque control data based on the posture data.

[0116] It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.

[0117] 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, 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 provided in the above-mentioned method embodiment.

[0118] 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.

[0119] 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.

[0120] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the order of the actions described, as certain steps may be performed in other orders or simultaneously according to the present invention. Furthermore, the aforementioned embodiments may be arbitrarily combined to obtain other embodiments.

[0121] 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 can also understand that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can 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 can 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.

[0122] The above description fully discloses the specific embodiments of the present invention. It should be noted that any modifications made by those skilled in the art to the specific embodiments of the present invention do not depart from the scope of the claims. Accordingly, the scope of the claims of the present invention is not limited solely to the foregoing specific embodiments.

Claims

1. A vehicle-mounted image acquisition and control system, characterized in that: The system includes: an on-board controller, a first inertial measurement sensor, and an image acquisition component; the image acquisition component includes: an electromagnetic torque control unit, a sealed cavity, and a camera component located inside the sealed cavity, wherein a liquid object is sealed and filled between the sealed cavity and the camera component, and the liquid object is insulating and non-magnetic; 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 configured to, when the driving posture data satisfies a preset vehicle posture change condition, perform posture adjustment analysis on the camera assembly based on the driving posture data to obtain torque control data, the torque control data including a torque magnitude parameter and a torque direction parameter; 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, wherein: The camera assembly includes: a camera unit and a component shell mounted on the outside of the camera unit; 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 passes through 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 through connection between the camera unit and the sealed cavity.

4. The system according to claim 2, wherein: 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 current vehicle's driving posture data; 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 torque control data including a torque magnitude parameter and a torque direction parameter; 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: a preset inclination change condition; the torque control data includes: reverse angular torque control data corresponding to the target direction; and when the driving posture data satisfies the preset vehicle posture change condition, performing posture adjustment analysis on the camera assembly based on the driving posture data, the torque control data obtained includes: When the tilt angle data corresponding to the target direction satisfies the preset tilt angle change condition, performing tilt adjustment analysis on the camera assembly based on the angular velocity data to obtain the reverse angular torque control data; The controlling of the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data includes: 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; and 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 obtained includes: When the acceleration data corresponding to the target direction meets the preset vehicle speed change condition, performing speed adjustment analysis on the camera assembly based on the acceleration data to obtain the same-direction torque control data; The controlling of the electromagnetic torque control unit to generate the electromagnetic torque corresponding to the torque control data includes: 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, performing speed adjustment analysis on the camera assembly based on the acceleration data to obtain the co-directional torque control data includes: 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. The preset torque control data is used to adjust the difference between the camera assembly's own gravity and the buoyancy it experiences.

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 obtain the driving posture data of the current vehicle; a posture adjustment analysis module, configured to perform posture adjustment analysis on the camera assembly based on the driving posture data when the driving posture data satisfies a preset vehicle posture change condition, and obtain torque control data, the torque control data including a torque magnitude parameter and a torque direction parameter; 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 and 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 according to any one of claims 5 to 9.

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