Camera flicker suppression method and device based on V2X

Abstract

The invention provides a V2X-based camera flicker suppression method and device, and the method comprises the steps: obtaining an ambient light parameter of a target light source in a preset range through V2X equipment, building communication connection with a target vehicle, and obtaining the position of the target vehicle; when the time that the target vehicle travels to the target light source is lower than a preset time threshold value, sending an ambient light parameter to the target vehicle; and receiving a target image shot by a camera and sent by the target vehicle, identifying the target image, judging whether the target image flickers or not, if so, identifying the ambient light parameters of the target light source again and updating the current ambient light parameters, and if not, keeping the ambient light parameters of the target light source unchanged. According to the invention, the flicker suppression of the camera based on the V2X equipment is realized so as to adapt to various different ambient lights, and the imaging quality of the camera is improved.

Description

Technical Field

[0001] The present invention relates to the field of camera technology, and in particular to a method and device for suppressing camera flicker based on V2X. Background Art

[0002] As a crucial component of the intelligent driving perception layer, cameras play an irreplaceable role in perceiving environmental details, and as such are widely used in automobiles. For example, ADAS systems utilize camera-collected images for lane recognition, pedestrian identification, and 3D object detection.

[0003] With the development of autonomous driving technology, the demand for camera image quality is becoming increasingly higher, and therefore the need for cameras to resist interference is also increasing. When a car passes by urban road fixtures such as streetlights, traffic lights at intersections, and traffic monitoring lights, the flickering frequency of these lights can interfere with camera imaging, causing ripples in the image or flickering interference across the entire frame. This can degrade camera performance and affect backend display quality or visual recognition results.

[0004] Current camera interference suppression solutions are essentially implemented by obtaining frame rate configuration parameters from the camera itself, and are often effective for 50Hz AC lighting. However, urban streetlights commonly use LED and xenon lamps, with operating frequencies ranging from 10 to 200Hz. Therefore, current camera interference suppression solutions struggle to filter out this type of interference. Summary of the Invention

[0005] The present invention provides a V2X-based camera flicker suppression method and device, aiming to address the defects in the existing technology and realize camera flicker suppression based on V2X equipment to adapt to various ambient light conditions and improve the imaging quality of the camera.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] In one aspect, the present invention provides a V2X-based camera flicker suppression method, which is applied to a V2X device, comprising:

[0008] Step 101: The V2X device obtains ambient light parameters of a target light source within a preset range, where the ambient light parameters include flicker frequency, light intensity, and position coordinates.

[0009] Step 102: The V2X device establishes a communication connection with the target vehicle to obtain the position and / or speed of the target vehicle.

[0010] Step 103: The V2X device determines whether the time taken for the target vehicle to travel to the target light source is less than a preset time threshold, and if so, sends the ambient light parameter to the target vehicle;

[0011] Step 104: The V2X device receives the target image captured by the camera of the target vehicle and identifies whether the target image flickers. If so, the ambient light parameters of the target light source are re-identified and updated. Otherwise, the ambient light parameters of the target light source remain unchanged.

[0012] Specifically, determining whether the target image flickers includes:

[0013] Step a, traversing the target image, reading at least 3 consecutive frames of images each time as target recognition images;

[0014] Step b: taking the last frame of the target recognition image as the reference image, recording the first two frames as the first image and the second image respectively, and calculating the maximum brightness and the minimum brightness of the second image;

[0015] Step c, processing all pixel values of the reference image according to the maximum brightness and the minimum brightness to generate a second reference image;

[0016] Step d: traverse the second reference image to determine whether there is at least one entire row of pixels whose pixel values are greater than a preset pixel threshold; if so, determine that flicker exists in the target image; otherwise, determine that flicker does not exist in the target image.

[0017] Specifically, the step c includes: processing all pixel values of the reference image according to a first preset relationship, where the first preset relationship is:

[0018]

[0019] Among them, P0(x,y) is the pixel value of the reference image, P'0(x,y) is the pixel value of the processed reference image, HL -2 is the maximum brightness of the second image, LL -2 is the minimum brightness of the second image.

[0020] Specifically, the pixel threshold is 0.7.

[0021] Another aspect of the present invention provides a V2X-based camera flicker suppression device, which is provided at a V2X device end and includes:

[0022] a first communication module, and a position determination module, a parameter identification module, and a storage module connected thereto, wherein the storage module is further connected to the judgment module and the parameter updating module, the parameter identification module is further connected to the parameter updating module, and the position determination module is further connected to the judgment module;

[0023] The first communication module is used to establish a communication connection with the target vehicle;

[0024] The position determination module is used to determine the position and / or speed of the target vehicle;

[0025] The judgment module is used to judge whether the time it takes for the target vehicle to travel to the target light source is less than a preset time threshold;

[0026] The parameter recognition module is used to receive the target image captured by the camera sent by the target vehicle for recognition, and re-recognize the ambient light parameters of the target light source when the target image flickers;

[0027] The parameter updating module is used to update the current ambient light parameters;

[0028] The storage module is used to store the latest ambient light parameters.

[0029] Another aspect of the present invention provides a V2X-based camera flicker suppression method, which is applied to a V2X device, comprising:

[0030] Step 201: The vehicle establishes a communication connection with a target V2X device and receives ambient light parameters sent by the target V2X device.

[0031] Step 202: The vehicle adjusts the operating frequency of the camera according to the ambient light parameters;

[0032] Step 203: The vehicle sends a preset number of target images and shooting parameters captured by the camera to the target V2X device.

[0033] Step 204 : The vehicle determines whether updated ambient light parameters have been received. If so, the vehicle returns to step 202 . Otherwise, the vehicle maintains the current operating frequency of the camera unchanged and returns to step 203 .

[0034] Furthermore, after step 204, the method further includes:

[0035] Step 205 : The vehicle determines whether there is obstacle information in the ambient light parameters. If yes, the camera brightness is increased to a preset value; otherwise, the current brightness is maintained unchanged.

[0036] In another aspect, the present invention provides a V2X-based camera flicker suppression device, which is provided at a vehicle-mounted camera end and includes:

[0037] A second communication module, and a parameter receiving module and an image sending module connected thereto, wherein the parameter receiving module is further connected to the parameter adjustment module, the image sending module is further connected to the camera module, and the camera module is further connected to the parameter adjustment module;

[0038] The second communication module is configured to establish a communication connection with a target V2X device;

[0039] The parameter receiving module is configured to receive the ambient light parameter sent by the target V2X device;

[0040] The parameter adjustment module is used to adjust the operating frequency of the camera according to the ambient light parameters;

[0041] The camera module is used to capture images according to the current operating frequency;

[0042] The image sending module is configured to send a preset number of target images and shooting parameters captured by the camera to the target V2X device.

[0043] Furthermore, the parameter adjustment module is further configured to determine whether there is obstacle information in the ambient light parameters, and if so, to increase the camera's shooting brightness to a preset value.

[0044] The beneficial effects of the present invention are as follows: the present invention obtains the ambient light parameters of a target light source within a preset range through a V2X device, establishes a communication connection with a target vehicle, obtains the target vehicle's position, and transmits the ambient light parameters to the target vehicle when the time it takes for the target vehicle to reach the target light source is less than a preset time threshold; the present invention also receives and identifies a target image captured by a camera sent by the target vehicle, determines whether the target image flickers, and re-identifies the ambient light parameters of the target light source and updates the current ambient light parameters if so; otherwise, maintains the ambient light parameters of the target light source unchanged. The present invention implements camera flicker suppression based on V2X devices to adapt to various ambient light environments and improve camera imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 1 is a flow chart of a V2X-based camera flicker suppression method applied to a V2X terminal of the present invention;

[0046] Figure 2 2 is a schematic structural diagram of a V2X-based camera flicker suppression device provided at a V2X terminal according to the present invention;

[0047] Figure 3 1 is a flow chart of a V2X-based camera flicker suppression method applied to a vehicle-mounted camera of the present invention;

[0048] Figure 4 It is a structural schematic diagram of a V2X-based camera flicker suppression device provided at a vehicle-mounted camera end of the present invention. DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings, which are for reference and illustration only and do not limit the scope of patent protection of the present invention.

[0050] In the processes described in the specification, claims, or drawings of the present invention, if the steps are numbered (e.g., steps 10, 20, etc.), the numbers are used solely to distinguish the steps and do not represent any order of execution. It should be noted that the terms "first," "second," etc., used herein are used solely to distinguish the objects being described and do not indicate a sequential order or indicate different types of steps.

[0051] Example 1

[0052] like Figure 1 As shown, this embodiment provides a V2X-based camera flicker suppression method, which is applied to a V2X device, including:

[0053] Step 101: The V2X device obtains ambient light parameters of a target light source within a preset range, where the ambient light parameters include flicker frequency, light intensity, and position coordinates.

[0054] In this embodiment, the V2X device is an RSU device, which is installed near a target light source (such as an LED lighting lamp) whose brightness parameters have periodic change characteristics. It can save or automatically identify the flashing frequency and light intensity value of the target light source in real time.

[0055] Step 102: The V2X device establishes a communication connection with the target vehicle to obtain the position and / or speed of the target vehicle.

[0056] The V2X device establishes a communication connection with the target vehicle via DSRC (Dedicated Short Range Communication). The target vehicle is equipped with an OBU (Operating Bus Unit) device. The signals transmitted by the OBU are received by different receiving antennas on the V2X device. The V2X device determines the vehicle's location based on the RSSI values received by the different antennas. Alternatively, the target vehicle directly transmits its location to the V2X device. This embodiment does not limit the method for determining the target vehicle's location.

[0057] Step 103: The V2X device determines whether the time it takes for the target vehicle to travel to the target light source is less than a preset time threshold. If so, the ambient light parameter is sent to the target vehicle.

[0058] In a specific implementation, the preset time threshold should not be too long or too short, and can be set according to the implementation effect, for example, 10 seconds.

[0059] Step 104: The V2X device receives the target image captured by the camera of the target vehicle and identifies whether the target image flickers. If so, the ambient light parameters of the target light source are re-identified and updated. Otherwise, the ambient light parameters of the target light source remain unchanged.

[0060] In this embodiment, the target image includes identifiable external features of the target light source, such as a street light or a traffic light.

[0061] In this embodiment, the number of target images can be determined based on the minimum operating frequency of the LED light source. For example, if the minimum operating frequency of a typical LED light source is 10 Hz, meaning the brightness changes every 0.1 seconds, then for accuracy, images captured within a period of twice that, i.e., within 0.2 seconds, can be sent.

[0062] In this embodiment, determining whether the target image flickers includes:

[0063] Step a: traverse the target image, and read at least 3 consecutive frames of images each time as target recognition images.

[0064] Step b: The last frame of the target recognition image is taken as the reference image P0, and the first two frames are respectively recorded as the first image P -1 , the second image P -2 , calculate the second image P -2 The highest brightness HL -2 and minimum brightness LL -2 .

[0065] Step c, according to the maximum brightness HL -2 , minimum brightness LL -2 All pixel values P0(x,y) of the reference image P0 are processed to generate a second reference image P'0.

[0066] In this embodiment, the step c includes: processing all pixel values P0(x, y) of the reference image P0 according to a first preset relationship, where the first preset relationship is:

[0067]

[0068] Among them, P0(x,y) is the pixel value of the reference image, P'0(x,y) is the pixel value of the processed reference image, HL -2 is the maximum brightness of the second image, LL -2 is the minimum brightness of the second image.

[0069] Step d: traverse the second reference image P'0 and determine whether there is at least one entire row of pixels whose pixel values are greater than a preset pixel threshold T. If so, determine that the target image has flicker; otherwise, determine that the target image does not have flicker.

[0070] During specific implementation, the preset pixel threshold T can be calibrated according to experimental results.

[0071] In this embodiment, the pixel threshold T is 0.7.

[0072] Example 2

[0073] like Figure 2 As shown, this embodiment provides a V2X-based camera flicker suppression device, which is provided at a V2X device end and includes:

[0074] a first communication module, and a position determination module, a parameter identification module, and a storage module connected thereto, wherein the storage module is further connected to the judgment module and the parameter updating module, the parameter identification module is further connected to the parameter updating module, and the position determination module is further connected to the judgment module;

[0075] The first communication module is used to establish a communication connection with the target vehicle;

[0076] The position determination module is used to determine the position and / or speed of the target vehicle;

[0077] The judgment module is used to judge whether the time it takes for the target vehicle to travel to the target light source is less than a preset time threshold;

[0078] The parameter recognition module is used to receive the target image captured by the camera sent by the target vehicle for recognition, and re-recognize the ambient light parameters of the target light source when the target image flickers;

[0079] The parameter updating module is used to update the current ambient light parameters;

[0080] The storage module is used to store the latest ambient light parameters.

[0081] The V2X-based camera flicker suppression device described in this embodiment is used to execute the V2X-based camera flicker suppression method described in Example 1, and the working process is not repeated here.

[0082] Example 3

[0083] like Figure 3 As shown, this embodiment provides a V2X-based camera flicker suppression method, which is applied to a vehicle-mounted camera, including:

[0084] Step 201: The vehicle establishes a communication connection with a target V2X device and receives ambient light parameters sent by the target V2X device.

[0085] Step 202: The vehicle adjusts the operating frequency of the camera according to the ambient light parameters.

[0086] Step 203: The vehicle sends a preset number of target images and shooting parameters captured by the camera to the target V2X device.

[0087] Step 204 : The vehicle determines whether updated ambient light parameters have been received. If so, the vehicle returns to step 202 . Otherwise, the vehicle maintains the current operating frequency of the camera unchanged and returns to step 203 .

[0088] In another embodiment of the present invention, after step 204, the method further includes:

[0089] Step 205 : The vehicle determines whether there is obstacle information in the ambient light parameters. If yes, the camera brightness is increased to a preset value; otherwise, the current brightness is maintained unchanged.

[0090] By increasing the camera's shooting brightness, obstacles can be identified at a farther distance, providing the driver or assisted driving system with more reaction time, thereby further improving driving safety.

[0091] Example 4

[0092] like Figure 4 As shown, this embodiment provides a V2X-based camera flicker suppression device, which is provided at a vehicle-mounted camera end and includes:

[0093] A second communication module, and a parameter receiving module and an image sending module connected thereto, wherein the parameter receiving module is further connected to the parameter adjustment module, the image sending module is further connected to the camera module, and the camera module is further connected to the parameter adjustment module;

[0094] The second communication module is configured to establish a communication connection with a target V2X device;

[0095] The parameter receiving module is configured to receive the ambient light parameter sent by the target V2X device;

[0096] The parameter adjustment module is used to adjust the operating frequency of the camera according to the ambient light parameters;

[0097] The camera module is used to capture images according to the current operating frequency;

[0098] The image sending module is configured to send a preset number of target images and shooting parameters captured by the camera to the target V2X device.

[0099] In another embodiment of the present invention, the parameter adjustment module is further configured to determine whether there is obstacle information in the ambient light parameters, and if so, to increase the shooting brightness of the camera to a preset value.

[0100] The above disclosure is only a preferred embodiment of the present invention and cannot be used to limit the scope of protection of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. A camera flicker suppression method based on V2X, applied to a V2X device, characterized in that: include: Step 101: The V2X device obtains ambient light parameters of a target light source within a preset range, where the ambient light parameters include flicker frequency, light intensity, and position coordinates. Step 102: The V2X device establishes a communication connection with the target vehicle to obtain the position and / or speed of the target vehicle. Step 103: The V2X device determines whether the time taken for the target vehicle to travel to the target light source is less than a preset time threshold, and if so, sends the ambient light parameter to the target vehicle; Step 104: The V2X device receives the target image captured by the camera of the target vehicle and identifies whether the target image flickers. If so, the ambient light parameters of the target light source are re-identified and updated. Otherwise, the ambient light parameters of the target light source remain unchanged.

2. The V2X-based camera flicker suppression method according to claim 1, characterized in that: Determining whether the target image flickers includes: Step a, traversing the target image, reading at least 3 consecutive frames of images each time as target recognition images; Step b: taking the last frame of the target recognition image as the reference image, recording the first two frames as the first image and the second image respectively, and calculating the maximum brightness and the minimum brightness of the second image; Step c, processing all pixel values of the reference image according to the maximum brightness and the minimum brightness to generate a second reference image; Step d: traverse the second reference image to determine whether there is at least one entire row of pixels whose pixel values are greater than a preset pixel threshold; if so, determine that flicker exists in the target image; otherwise, determine that flicker does not exist in the target image.

3. The V2X-based camera flicker suppression method according to claim 2, characterized in that: The step c includes: processing all pixel values of the reference image according to a first preset relationship, wherein the first preset relationship is: Among them, P0(x,y) is the pixel value of the reference image, P'0(x,y) is the pixel value of the processed reference image, HL -2 is the maximum brightness of the second image, LL -2 is the minimum brightness of the second image.

4. The V2X-based camera flicker suppression method according to claim 3, characterized in that: The pixel threshold is 0.

7.

5. A V2X-based camera flicker suppression device, provided at a V2X device end, characterized in that: include: a first communication module, and a position determination module, a parameter identification module, and a storage module connected thereto, wherein the storage module is further connected to the judgment module and the parameter updating module, the parameter identification module is further connected to the parameter updating module, and the position determination module is further connected to the judgment module; The first communication module is used to establish a communication connection with the target vehicle; The position determination module is used to determine the position and / or speed of the target vehicle; The judgment module is used to judge whether the time it takes for the target vehicle to travel to the target light source is less than a preset time threshold; The parameter recognition module is used to receive the target image captured by the camera sent by the target vehicle for recognition, and re-recognize the ambient light parameters of the target light source when the target image flickers; The parameter updating module is used to update the current ambient light parameters; The storage module is used to store the latest ambient light parameters.

6. A V2X-based camera flicker suppression method, applied to a vehicle-mounted camera, characterized in that: include: Step 201: The vehicle establishes a communication connection with a target V2X device and receives ambient light parameters sent by the target V2X device. Step 202: The vehicle adjusts the operating frequency of the camera according to the ambient light parameters; Step 203: The vehicle sends a preset number of target images and shooting parameters captured by the camera to the target V2X device. Step 204 : The vehicle determines whether updated ambient light parameters have been received. If so, the vehicle returns to step 202 . Otherwise, the vehicle maintains the current operating frequency of the camera unchanged and returns to step 203 .

7. The V2X-based camera flicker suppression method according to claim 6, characterized in that: After step 204, the method further includes: Step 205 : The vehicle determines whether there is obstacle information in the ambient light parameters. If yes, the camera brightness is increased to a preset value; otherwise, the current brightness is maintained unchanged.

8. A V2X-based camera flicker suppression device, provided at a vehicle-mounted camera, characterized in that: include: A second communication module, and a parameter receiving module and an image sending module connected thereto, wherein the parameter receiving module is further connected to the parameter adjustment module, the image sending module is further connected to the camera module, and the camera module is further connected to the parameter adjustment module; The second communication module is configured to establish a communication connection with a target V2X device; The parameter receiving module is configured to receive the ambient light parameter sent by the target V2X device; The parameter adjustment module is used to adjust the operating frequency of the camera according to the ambient light parameters; The camera module is used to capture images according to the current operating frequency; The image sending module is configured to send a preset number of target images and shooting parameters captured by the camera to the target V2X device.

9. The V2X-based camera flicker suppression device according to claim 8, characterized in that: The parameter adjustment module is further configured to determine whether there is obstacle information in the ambient light parameters, and if so, to increase the camera's shooting brightness to a preset value.

Images