Control system, vehicle and method

Abstract

Aspects of the present invention relate to a control system (100) for controlling a camera system (210a-210e) of a vehicle (200), the control system (100) comprising one or more controllers (110), the control system (100) configured to receive (310) motion data (160) of the vehicle (200), the motion data is used to determine (320) whether to operate a camera system (210a-210e) of the vehicle (200) in a fixed exposure control mode or in an automatic exposure control mode (determination), and a control signal (170) is output to the camera system (210a-210e) of the vehicle (200) in accordance with the determination to request the camera system (210a-210e) to operate in the fixed exposure control mode or the automatic exposure control mode. Aspects of the invention also relate to a system comprising a control system (100) and one or more camera devices (210a-210e) mounted on a vehicle (200), a vehicle (200) comprising a control system (100), and a method (300) of controlling a camera device system (210a-210e) of a vehicle (200).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle control system and control method for controlling a camera system of a vehicle. Aspects of the invention relate to control systems, systems, vehicles and methods. In particular, but not exclusively, the present disclosure relates to a road vehicle or off-road vehicle, and in particular, but not exclusively, to an EGO vehicle (i.e. a vehicle equipped with autonomous or semi-autonomous driving technology and capable of sensing its environment and navigating without direct input from a human driver). BACKGROUND

[0002] It is known to provide a vehicle with an Advanced Driver Assistance System (ADAS) camera system in the form of a human vision based camera and an environment perception based camera. Traditionally, the ADAS camera system adjusts an adaptive exposure time based on statistical data from the scene. For example, the exposure time of the pixels of the camera of the ADAS system can gradually increase as the scene becomes darker to obtain an image with a higher signal-to-noise ratio. However, increasing the exposure time can introduce undesirable side effects in the obtained image, such as motion artifacts in the presence of objects in the scene and motion blur in the presence of a speed of the vehicle.

[0003] It is an object of the invention to address one or more of the drawbacks associated with the prior art. SUMMARY

[0004] Aspects and embodiments of the invention provide a control system, system, vehicle, method and computer readable instructions as claimed in the appended claims.

[0005] The present disclosure provides a technique for improving the quality of images obtained from a vehicle camera system. The technique selects between a fixed exposure control mode and an automatic exposure control mode depending on factors related to the vehicle.

[0006] According to an aspect of the invention, there is provided a control system for controlling a camera system of a vehicle, the control system comprising one or more controllers. The control system is configured to receive motion data of the vehicle. The control system is further configured to determine whether to operate the camera system of the vehicle in a fixed exposure control mode or in an automatic exposure control mode using the motion data (“determination”). The control system is further configured to output a control signal to the camera system of the vehicle in dependence on the determination to request the camera system to operate in the fixed exposure control mode or the automatic exposure control mode.

[0007] In this way, an appropriate exposure control mode can be determined based on the vehicle motion data at a given time for use by the camera system. For example, when the driver is maneuvering the vehicle in a way that is unlikely to result in motion blur, the control system can determine that the camera system should operate in an automatic exposure control mode, such that the camera system provides high quality images (i.e. images with a high signal-to-noise ratio) to the driver with little or reduced levels of motion blur.

[0008] The control system comprises one or more controllers which collectively comprise: at least one electronic processor having electrical inputs for receiving input signals, the input signals comprising motion data of the vehicle; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute instructions thereon to: receive the motion data of the vehicle; determine whether to operate the camera system of the vehicle in a fixed exposure control mode or an automatic exposure control mode using the motion data (“determine”); and output a control signal to the camera system of the vehicle in accordance with the determination to request the camera system to operate in the fixed exposure control mode or the automatic exposure control mode.

[0009] Optionally, the control system is configured to compare the motion data to a threshold to determine whether to operate the camera system of the vehicle in the fixed exposure control mode or the automatic exposure control mode. By setting the threshold accordingly, the level of motion blur can be reduced and managed to an acceptable level.

[0010] Optionally, the control system is configured to output the control signal to request the camera system to operate in one of the automatic exposure control mode and the fixed exposure control mode when the motion data is below the threshold, and in the other of the automatic exposure control mode and the fixed exposure control mode when the motion data is above the threshold.

[0011] Optionally, the threshold is set such that the level of motion blur in the automatic exposure control mode does not exceed a motion blur threshold.

[0012] Optionally, the threshold is at a first value when the motion data indicates increasing vehicle motion and at a second value when the motion data indicates decreasing vehicle motion. In this way, an intentional hysteresis is introduced to prevent switching modes when motion is oscillating around the threshold.

[0013] Optionally, the determining causes the control signal to request the camera system to operate in the automatic exposure control mode at a smaller vehicle motion than a fixed exposure control mode of the vehicle motion. As motion blur is less prevalent for relatively low vehicle motion than for relatively high vehicle motion, the camera system can operate in the automatic exposure control mode at relatively low vehicle motion to enable images captured by the camera system to have an increased signal-to-noise ratio.

[0014] Optionally, the control system is further configured to receive ambient light data of an environment surrounding the vehicle, and wherein the determining is based on the motion data and the ambient light data. By considering the ambient light data in the environment surrounding the vehicle in addition to the motion data, the control system can determine when to activate the automatic exposure control mode such that images captured by the camera system have a high signal-to-noise ratio and minimized motion blur.

[0015] The control system is configured to determine a threshold value based on the ambient light data using a threshold function. At relatively low ambient light levels, it can be necessary to increase camera exposure time to improve the signal-to-noise ratio of captured images. However, as vehicle motion increases, increased camera exposure time can result in increased motion blur. By considering the threshold value as a threshold function of the ambient light data, the control system can determine an appropriate switching point for operating in the automatic exposure control mode such that images can be captured with enhanced signal-to-noise ratio and reduced motion blur.

[0016] Optionally, the threshold value is decreased such that the motion data is at a lower value before the determining causes the control signal to request the camera system to operate in the automatic exposure control mode when the ambient light data indicates relatively low ambient light. In this way, images can be captured with a high signal-to-noise ratio that have reduced motion blur artifacts.

[0017] Optionally, the determining causes the control signal to request the camera system to operate in the automatic exposure control mode based on the motion data only when the ambient light data is greater than a predetermined ambient light level. In this way, the automatic exposure control mode is not activated in dark conditions where a given vehicle motion would result in or risk motion blur artifacts.

[0018] Optionally, the motion data comprises vehicle speed data and vehicle steering data. The prevalence of motion blur artifacts tends to increase at progressively higher speeds and at progressively larger steering angles. By considering both vehicle speed data and vehicle steering data, the control system can determine an appropriate point at which to operate the camera system in the automatic exposure control mode such that motion blur artifacts are reduced to at least an acceptable level.

[0019] Optionally, the camera system is one or more of: a human vision camera system, a rear view human vision camera system, a three-dimensional surround view camera system, and an environment perception camera system. For example, the environment perception camera system can form part of an automatic emergency braking system, a lane keep assist system, and / or an autonomous parking system.

[0020] According to a further aspect of the application, there is provided a system comprising a control system as mentioned above and one or more cameras mounted on a vehicle.

[0021] According to a further aspect of the application, there is provided a vehicle comprising a system as mentioned above or a control system as mentioned above.

[0022] According to a further aspect of the application, there is provided computer readable instructions which, when executed by a computer, are configured to perform a method as mentioned above.

[0023] Within the scope of the present application, it is expressly intended that each aspect, embodiment, example, and alternative described in the preceding paragraphs, in the claims, and / or in the following description and drawings can be employed independently or in any combination with any of the other aspects, embodiments, examples, and alternatives described therein, particularly in regard to each feature of each of the aspects, embodiments, examples, and alternatives. That is, all possible combinations of the various aspects, embodiments, examples, and alternatives described herein are intended to be within the scope of the present application. The applicant reserves the right to change any originally claimed feature of the application in its patented matter to be any other feature that is described in the claims after any such claim is pursued in regard to any patent issued on the application. Any features that are not in the prior art prior to the filing date of this application (which can be prior art under 35 U.S.C. 102(b)) are expressly intended to be in the patentable part of the application that is: (i) the sum of the claims and (ii) the disclosure of this application prior to any allowable claims. BRIEF DESCRIPTION OF DRAWINGS

[0024] One or more embodiments of the application will now be described, by way of example only, with reference to the accompanying drawings in which:

[0025] Figure 1 is a block diagram illustrating a control system according to an embodiment of the application;

[0026] Figure 2a is a schematic diagram of a vehicle according to an embodiment of the application;

[0027] Figure 2b is Figure 2a a schematic diagram of a rear view of the vehicle of

[0028] Figure 3 is a first flow diagram illustrating operations performed by the control system of Figure 1

[0029] Figure 4 ​is a second flowchart illustrating operations performed by a control system according to an embodiment of the application;

[0030] Figure 5 is a plot illustrating vehicle motion and vehicle motion thresholds according to time;

[0031] Figure 6 is a schematic diagram of a vehicle according to an embodiment of the application; and

[0032] Figure 7 is a third flowchart illustrating operations performed by a control system according to an embodiment of the application. DETAILED DESCRIPTION

[0033] Reference is made to Figure 1 , a control system 100 for a vehicle is shown. As Figure 1 indicated in the control system 100 comprises one controller 110, but it will be appreciated that this is merely illustrative. The controller 110 comprises a processing device 120 and a memory device 130. The processing device 120 can be one or more electronic processing devices 120 operable to execute computer-readable instructions. The memory device 130 can be one or more memory devices 130. The memory device 130 is electrically coupled to the processing device 120. The memory device 130 is configured to store instructions, and the processing device 120 is configured to access the memory device 130 and execute instructions stored thereon.

[0034] The controller 110 comprises an input device 140 and an output device 150. The input device 140 can comprise electrical inputs 140 of the controller 110. The output device 150 can comprise electrical output signals 170 of the controller 110. The input device 140 is arranged to receive vehicle motion signals 160 from vehicle motion sensors of the vehicle. The input device can optionally be arranged to receive ambient light signals 165 from ambient light sensors of the vehicle (discussed further below with reference to Figure 6 ). The vehicle motion signals 160 are electrical signals indicative of one or more motion characteristics of the vehicle. The output device 150 is arranged to output control signals 170 to camera systems of the vehicle to request the camera systems to operate in a fixed exposure / aperture control mode or an automatic exposure / aperture control mode.

[0035] Figure 2a A vehicle 200 according to an embodiment of the application is shown. The vehicle 200 comprises a controller 110 as shown in Figure 1 . The controller 110 is shown as being mounted within the vehicle 200 and in communication with one or more camera systems located on the vehicle 200, such that control signals 170 can be sent to the one or more camera systems located on the vehicle 200.

[0036] The vehicle 200 can be an EGO vehicle, i.e. a vehicle equipped with autonomous or semi-autonomous driving technology and capable of sensing and navigating its environment without direct input from a human driver.

[0037] The vehicle 200 has at least one camera system (210a-210e) located on the vehicle for capturing images of the environment surrounding the vehicle 200. For example, the vehicle 200 can have a first front-facing camera system 210a arranged to capture images at the front of the vehicle 200, and a second front-facing camera system 210b arranged to capture images at the front of the vehicle 200. The first front-facing camera system 210a can be a human vision based camera system. For example, the first front-facing camera system 210a can be a transparent hood camera system, or can be part of a three-dimensional surround view camera system. The second front-facing camera system 210b can be an environment perception based camera system. For example, the second front-facing camera system 210b can be part of a traffic sign recognition system, an automatic emergency braking system, a lane keep assist system, and / or an autonomous parking system. The vehicle 200 can also have one or more side-facing camera systems 210c arranged to capture images at the sides of the vehicle 200. The one or more side-facing camera systems 210c can be part of a human vision based camera system and / or an environment perception based camera system.

[0038] Figure 2b A rear view of the vehicle 200 is shown. Figure 2a The vehicle 200 can also have a first rear-facing camera system 210d arranged to capture images at the rear of the vehicle 200. The first rear-facing camera system 210d can be a human vision based camera system, e.g. a reversing camera. The vehicle 200 can also have a second rear-facing camera system 210e located at the rear surface of the vehicle 200. The second rear-facing camera system 210e can be part of an environment perception based camera system. The first and second rear-facing camera systems can be a combined system.

[0039] Figure 3is a flowchart 300 according to an embodiment of the application. The flowchart 300 illustrates steps performed by the control system 100 in controlling the camera system of the vehicle 200. At step 310, the control system 100 is configured to receive motion data of the vehicle 200. The motion data is received as an input signal 160 at the input device 140 of the controller 110 and comprises data indicative of one or more motion characteristics of the vehicle 200 as measured by one or more vehicle motion sensors of the vehicle 200. As described below, the motion data can comprise vehicle speed and / or vehicle steering angle.

[0040] At step 320, the control system 100 determines, using the motion data, whether to operate the camera system of the vehicle 200 in a fixed exposure / aperture control mode or an automatic exposure / aperture control mode. The processing device 120 receives the input signal 160 from the input device 140 and, in executing instructions stored in the memory device 130, determines whether the camera system of the vehicle 200 should be operated in the fixed exposure / aperture control mode or the automatic exposure / aperture control mode based on the motion data.

[0041] For example, in one aspect, if the motion data indicates that the vehicle 200 is travelling at a relatively high speed, then operating the camera system in the automatic exposure / aperture control mode can result in images captured by the camera system having an undesirable level of motion blur. Similarly, as the steering angle of the vehicle 200 increases, motion blur artefacts will generally tend to increase universally, resulting in the vehicle’s cornering or lateral motion (i.e. motion blur artefacts will be relatively higher when navigating tight turns than when navigating smaller bends in otherwise straight roads). If one or both of the vehicle speed and the vehicle steering angle are relatively high, then operation in the automatic exposure / aperture control mode can be unsuitable as there can be a high level of motion blur in any captured images. In such instances of one or more of a high speed and a high steering angle of the vehicle 200, the controller 110 is arranged to output a control signal 170 to operate the camera system in the fixed exposure / aperture control mode to limit the level of motion blur in captured images.

[0042] If, on the other hand, the motion data indicates that the vehicle 200 is travelling at a relatively low speed and a relatively low steering angle, then operating the camera system in the fixed exposure / aperture control mode can result in images having a reduced signal-to-noise ratio (SNR). Conversely, the control system 100 is arranged to determine that the camera system of the vehicle 200 should be operated in an auto exposure / aperture control mode in which the camera system uses a relatively longer exposure time or a larger aperture, or a combination, when compared to the fixed exposure / aperture control mode in which the exposure time / aperture size is limited to compensate for motion blur. As motion blur is less prevalent at relatively low speeds and relatively low steering angles, by operating the camera system in the auto exposure / aperture control mode, images can be captured having a higher SNR.

[0043] Of course, situations will arise when the vehicle 200 is travelling at a relatively low speed but a relatively high steering angle, and vice versa. As an illustrative example, consider a driver using the rear view camera system, for example a reversing camera, to manoeuvre the vehicle 200. If the driver is reversing the vehicle into a parking space, then the motion data received by the controller 110 will likely indicate that the vehicle 200 is travelling at a relatively low speed. The motion data can also indicate that the vehicle 200 has a high steering angle (for example, if the driver applies full lock to steer the vehicle 200 into the parking space). However, in this situation, as the vehicle speed can be very low (i.e. only a few miles per hour), it is unlikely that an unacceptable level of motion blur will result from applying full lock. Accordingly, the processing device 120 is arranged to determine that the rear view camera system is operated in the auto exposure / aperture control mode. Accordingly, images can be captured by the rear view camera system having a high SNR, thereby enabling the driver to be provided with images having an enhanced level of detail. This enables the driver to more clearly understand the environment around the rear of the vehicle 200, accurately identify any obstacles, for example, neighbouring vehicles, pedestrians and kerbs.

[0044] Once the processing device 120 has determined whether to operate the camera system of the vehicle 200 in the fixed exposure / aperture control mode or the auto exposure / aperture control mode, at step 330 the controller 110 outputs a control signal 170 to cause the camera system to operate in the fixed exposure / aperture control mode or the auto exposure / aperture control mode.

[0045] Depending on the implementation, the control signal 170 can be output by the controller 110 to an auto exposure / aperture control module within the camera system of the vehicle 200 or a separate module. Upon receiving the control signal 170, the auto exposure / aperture control module causes the camera system to operate in an auto exposure / aperture control mode as is known in the art. The control signal 170 can cause the auto exposure / aperture control module to instruct the camera system to operate in a fixed exposure / aperture control mode. The settings for the fixed exposure / aperture control mode can be provided by the control signal or can be known by the camera system or auto exposure / aperture control module as the case can be.

[0046] Figure 4 is a flowchart 400 in accordance with an embodiment of the present application. The flowchart 400 illustrates the steps performed by the control system 100 in controlling the camera system of the vehicle 200. Steps 310, 320 and 330 are the same as illustrated in Figure 3

[0047] As an example, Figure 5 A graph 500 is shown illustrating how the motion data (M) varies as a function of time (t). A dashed line is provided on the graph 500 to represent a threshold value 505 for the motion data. The threshold value 505 indicates a switching point between operation in a fixed exposure / aperture control mode or operation in an auto exposure / aperture control mode. For example, upon determining that the motion data reaches or falls below the threshold value 505, the controller 110 can output a control signal 170 requesting the camera system to operate in an auto exposure / aperture control mode. Conversely, upon determining that the motion data is above the threshold value 505, the controller 110 can output a control signal 170 requesting the camera system to operate in a fixed exposure / aperture control mode.

[0048] ​The threshold 505 can be for vehicle speed only, for steering angle only, or can be a combined threshold for a function of vehicle speed and steering angle. If both vehicle speed and vehicle steering angle are relatively low, motion blur is unlikely to be a limiting factor, and the control system can determine that the camera system should operate in the auto exposure / aperture control mode to obtain images with higher SNR. If the vehicle motion data indicates that the vehicle speed is relatively low and the vehicle steering angle is relatively high (or vice versa), the threshold of the function applied to both vehicle speed and vehicle steering data will indicate that images are captured in the auto exposure / aperture control mode to have a higher SNR and an acceptable level of motion blur. Of course, exceeding the threshold will trigger the fixed exposure / aperture control mode.

[0049] The threshold 505 can be set so that the level of motion blur in the auto exposure / aperture control mode does not exceed a motion blur threshold. For example, the motion blur threshold can define an upper limit of acceptable motion blur levels in images captured by the camera system to be provided to the driver of the vehicle 200. As described above, the level of motion blur in images captured at relatively high levels of vehicle motion (determined by speed and vehicle steering angle) will generally be higher. Thus, the threshold 505 can define a level of vehicle motion below which operation in the auto exposure / aperture control mode results in images captured by the camera system that benefit from a higher SNR but have an acceptable level of motion blur, and above which operation in the fixed exposure / aperture control mode results in images with reduced motion blur.

[0050] To prevent repeated switching between the auto exposure / aperture control mode and the fixed exposure / aperture control mode when the motion data fluctuates around the threshold, a deliberate hysteresis can be introduced by setting the threshold 505 to a first value when the motion data indicates increasing vehicle motion, and to a second value different from the first value when the motion data indicates decreasing vehicle motion.

[0051] The examples discussed above have focused on vehicle motion (e.g., speed and / or steering angle) as an important variable in considering the level of motion blur in captured images, and have outlined that at relatively high levels of vehicle motion, operation of the camera system in the auto exposure / aperture control mode (e.g., at relatively long camera exposure times) can result in captured images with unacceptable levels of motion blur. However, the level of ambient light in the environment around the vehicle can also be an important factor in determining whether to operate the camera system in the fixed exposure / aperture control mode or in the auto exposure / aperture control mode.

[0052] Generally, increasing the camera exposure time at relatively low ambient light levels is beneficial to increase the SNR of the captured images, e.g. in order to help reveal details of dark scenes. However, if the vehicle 200 is driving in a low ambient light level environment, increasing the camera exposure time (to account for the low ambient light level) can result in artifacts such as motion blur in the captured images at the same time as the vehicle is moving. Therefore, the ambient light level of the environment surrounding the vehicle 200 is a further variable to take into account when determining whether to operate the camera system in the auto exposure / aperture control mode or in the fixed exposure / aperture control mode.

[0053] Figure 6 A vehicle 200 according to an embodiment of the application is shown. The vehicle 200 comprises the controller 110 and the camera systems 210a-c shown in Fig. 2, but additionally has an ambient light sensor 220 for sensing the ambient light level in the environment surrounding the vehicle 200. Figure 5 The ambient light sensor 220 is shown to be located below the windshield 230 of the vehicle 200, however, the ambient light sensor 220 can also be located at other locations on the vehicle 200. The ambient light sensor 220 can also form part of one or more of the camera systems 210a-c.

[0054] Figure 7 is a flowchart 700 according to an embodiment of the application, showing the steps performed by the control system 100 when controlling the camera systems of the vehicle 200. In comparison to Figure 3 and Figure 4 Figure 7 The flowchart 700 comprises a further step 312, at which the control system 100 optionally receives ambient light data of the environment surrounding the vehicle 200 in addition to receiving motion data at step 310. The ambient light data is received from an ambient light sensor 220, which, as described above, can be mounted on the vehicle 200 (e.g. below the windshield 230 or at other locations on the vehicle 200), or can also form part of one or more of the camera systems 210a-c. In the latter case, the image sensors of one or more of the camera systems 210a-c can act as the ambient light sensor 220 to sense the ambient light level in the environment surrounding the vehicle 200 based on the saturation level of the pixels in the image sensors. The ambient light sensor 220 is configured to transmit the ambient light data to the control system 100. The control system 100 is configured to receive the ambient light data as an ambient light signal 165 at the input device 140 of the controller 110 (see Fig. 1). Figure 1 ).

[0055] As described above with respect to Figure 4 ​The flowchart 400 described above at step 315, the control system is configured to compare the motion data received at step 310 to a threshold 505 to determine at step 320 whether to operate the camera system in an auto exposure / aperture control mode or a fixed exposure / aperture control mode. However, the ambient light data of the environment surrounding the vehicle 200 received at step 312 can cause the threshold at which the control system 100 determines that the camera system should be operated in an auto exposure / aperture control mode or a fixed exposure / aperture control mode to be modified.

[0056] At relatively low ambient light levels, it can be desirable to increase the camera exposure time or aperture size to enhance the SNR or quality of the captured images. However, as the vehicle motion increases, the increased camera exposure time can result in increased motion blur. By using a threshold function based on the ambient light data received at step 312 to determine the threshold 505, the control system 100 can determine (at step 320) an appropriate dynamic switching point for operating in an auto exposure / aperture control mode that strikes a balance between images with enhanced signal-to-noise ratio and reduced levels of motion blur. For example, if the ambient light data received at step 312 indicates a relatively low ambient light level in the environment surrounding the vehicle 200, the threshold 505 can be lowered such that the vehicle motion (as indicated by the vehicle motion data received at step 310) must be at a lower value before the control system 100 will determine that the camera system can be operated in an auto exposure / aperture control mode, and vice versa. In other words, the switching point for operating in an auto exposure / aperture control mode can occur at a relatively lower vehicle motion at night than when compared to a relatively higher vehicle motion on a bright sunny day. Once the determination has been made at step 320, the control system 100 proceeds to step 330 and outputs a control signal 170 requesting that the camera system operate in an auto exposure / aperture control mode or a fixed exposure / aperture control mode accordingly.

[0057] If the ambient light data indicates that the environment surrounding the vehicle 200 is particularly dark (e.g., at night in a rural area), the threshold function described above can not be used, but instead a predetermined minimum ambient light value can be specified below which operation in an auto exposure / aperture mode will not be requested regardless of the motion of the vehicle because it would be inappropriate due to the risk of unacceptable levels of motion blur in the captured images when maneuvering the vehicle 200. If the control system 100 determines at step 320 that the ambient light data received at step 312 is below the predetermined minimum ambient light value, the control system 100 will output (at step 330) a control signal 170 requesting that the camera system operate in a fixed exposure / aperture control mode.

[0058] It will be understood that various changes and modifications can be made to the application without departing from the scope thereof.

[0059] While the above embodiments describe automatic exposure and fixed exposure / aperture control modes, generally only exposure can be controlled.

[0060] While the above examples describe the control system 100 determining whether to operate the camera system of the vehicle 100 in a fixed exposure / aperture control mode or an automatic exposure / aperture control mode based on motion data including both vehicle speed data and vehicle steering angle data, it should be understood that the determination can be based on only vehicle speed data, or only vehicle steering data.

[0061] For purposes of this disclosure, it is to be understood that a reference to the "control system being configured" is to be understood as meaning "one or more controllers of the control system being collectively configured." The controllers described herein can each include a control unit or computing device having one or more electronic processors collectively configured to perform the control system functions set forth in the control system claims.

Claims

1. A control system for controlling a camera device system of a vehicle, the control system comprising one or more controllers, the control system being configured to: Receive the vehicle's motion data; The motion data is used to determine whether the vehicle's camera system is operated in fixed exposure control mode or automatic exposure control mode ("determined"); and According to the determination, a control signal is output to the camera system of the vehicle to request the camera system to operate in the fixed exposure control mode or the automatic exposure control mode.

2. The control system according to claim 1, wherein, The control system is configured to compare the motion data with a threshold to determine whether to operate the vehicle's camera system in the fixed exposure control mode or the automatic exposure control mode.

3. The control system according to claim 2, wherein, The control system is configured to output a control signal to request the camera system to operate in one of the automatic exposure control mode and the fixed exposure control mode when the motion data is below the threshold, and to request the camera system to operate in the other of the automatic exposure control mode and the fixed exposure control mode when the motion data is above the threshold.

4. The control system according to claim 3, wherein, The threshold is set such that the motion blur level in the automatic exposure control mode does not exceed the motion blur threshold.

5. The control system according to any one of claims 2 to 4, wherein, The threshold is at a first value when the motion data indicates increased vehicle motion and at a second value when the motion data indicates decreased vehicle motion.

6. The control system according to any of the preceding claims, wherein, The determination causes the control signal to request the camera system to operate in the automatic exposure control mode under relatively small vehicle movement, compared to the fixed exposure control mode.

7. The control system according to any of the preceding claims, wherein, The control system is also configured to receive ambient light data of the environment surrounding the vehicle, and wherein the determination is based on the motion data and the ambient light data.

8. The control system according to claim 7 when dependent on claim 2, wherein, The control system is configured to determine the threshold using a threshold function based on the ambient light data.

9. The control system according to claim 8, wherein, When the ambient light data indicates relatively low ambient light, the threshold is reduced such that the motion data is at a low value before the control signal is determined to request the camera system to operate in the automatic exposure control mode.

10. The control system according to claim 7, wherein, The determination is made only when the ambient light data is greater than a predetermined ambient light level, based on the motion data, to request the camera device system to operate in the automatic exposure control mode.

11. The control system according to any of the preceding claims, wherein, The motion data includes vehicle speed data and vehicle steering data.

12. The control system according to any of the preceding claims, wherein, The camera device system is one or more of the following: Human visual camera system; Rear-view human vision camera system; 3D surround view camera system; and Environmental sensing camera system.

13. A system comprising a control system according to any of the preceding claims and one or more camera devices mounted on a vehicle.

14. A vehicle comprising the system according to claim 13 or the control system according to claims 1 to 12.

15. A method for controlling a camera device system of a vehicle, the method comprising the steps of: The system receives the vehicle's motion data. The control system uses the motion data to determine whether the vehicle's camera system is operated in a fixed exposure control mode or an automatic exposure control mode; as well as According to the determination steps, the control system outputs a control signal to the camera device system to operate the camera device system in the fixed exposure control mode or the automatic exposure control mode.

16. A computer-readable instruction, which, when executed by a computer, is configured to perform the method of claim 15.

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