Electronic rearview mirror camera control method and device, computer equipment and medium

Abstract

The invention relates to the technical field of vehicle control, and discloses an electronic rearview mirror camera control method and device, computer equipment and a medium, and the method comprises the steps: when an intelligent driving domain controller is not started, setting the exposure authority of a rearview mirror camera as an electronic rearview mirror, controlling the rearview mirror camera to collect a first environment image through the electronic rearview mirror, the first environment image is transmitted to the electronic rearview mirror; monitoring whether the intelligent driving domain controller is in a starting state or not; and if the electronic rearview mirror is in the enabled state, switching the exposure permission attribution of the rearview mirror camera to the intelligent driving domain controller, controlling the rearview mirror camera to acquire a second environment image through the intelligent driving domain controller, and synchronously transmitting the second environment image to the intelligent driving domain controller and the electronic rearview mirror. According to the invention, the problems of high image transmission delay and insufficient system redundancy during fusion of the streaming media rearview mirror and the high-order intelligent driving rear camera in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to electronic rearview mirror camera control methods, devices, computer equipment, and media. Background Technology

[0002] With the accelerating pace of automotive intelligence, consumers are demanding higher levels of safety, comfort, and intelligent features from their vehicles. Streaming rearview mirrors capture images of the area behind the vehicle using cameras and display them on an in-car screen, effectively solving the problems of limited field of view and susceptibility to lighting and weather conditions associated with traditional rearview mirrors. This provides drivers with a wider and clearer rear view. Advanced intelligent driving rear cameras play a crucial role in environmental perception within the intelligent driving system, accurately identifying obstacles, pedestrians, and other vehicles behind the vehicle, providing vital information for intelligent driving decisions. Currently, streaming rearview mirrors and advanced intelligent driving rear cameras typically operate as two independent systems, each equipped with its own camera and processing unit, resulting in high hardware costs and significant system redundancy.

[0003] In existing technologies, one approach to achieve the integration of these two technologies is to merge the rear cameras, using the intelligent driving rear camera to capture images, which are then processed by the intelligent driving domain controller and forwarded to the electronic rearview mirror. However, this approach increases the image transmission link, leading to a significant increase in imaging latency, which cannot meet the latency requirements of the electronic streaming rearview mirror. Furthermore, in scenarios such as intelligent driving domain controller failure or low battery mode, the image forwarding function is prone to failure, causing the electronic rearview mirror to fail to display rearward images, resulting in low system redundancy. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide an electronic rearview mirror camera control method, device, computer equipment, and medium to solve the problems of high image transmission latency and insufficient system redundancy when fusing streaming media rearview mirrors and advanced intelligent driving rear cameras in the prior art.

[0005] In a first aspect, embodiments of the present invention provide an electronic rearview mirror camera control method, the method comprising: When the intelligent driving domain controller is not activated, the exposure permission of the rearview mirror camera is set to the electronic rearview mirror. The electronic rearview mirror controls the rearview mirror camera to collect a first environmental image and transmits the first environmental image to the electronic rearview mirror. Monitor whether the intelligent driving domain controller is in the startup state; If the device is in the enabled state, the exposure permission of the rearview mirror camera is switched to the intelligent driving domain controller. The intelligent driving domain controller controls the rearview mirror camera to capture a second environmental image and transmits the second environmental image synchronously to the intelligent driving domain controller and the electronic rearview mirror.

[0006] Furthermore, the step of controlling the rearview mirror camera to acquire a first environmental image via the electronic rearview mirror and transmitting the first environmental image to the electronic rearview mirror includes: When the exposure permission is set to electronic rearview mirror, the exposure mode of the rearview mirror camera is set to automatic mode, and the image output mode of the rearview mirror camera is set to single-channel output mode. In response to the first exposure signal of the electronic rearview mirror; The rearview mirror camera acquires a first environmental image in the automatic mode based on the first exposure signal, and transmits the first environmental image to the electronic rearview mirror based on the single-channel output mode.

[0007] Furthermore, the step of controlling the rearview mirror camera to acquire a second environmental image via the intelligent driving domain controller and synchronously transmitting the second environmental image to the intelligent driving domain controller and the electronic rearview mirror includes: When the exposure permission is set to the intelligent driving domain controller, the exposure mode of the rearview mirror camera is switched to synchronous mode, and the image output mode of the rearview mirror camera is switched to dual-channel output mode. In response to the second exposure signal of the intelligent driving domain controller; The rearview mirror camera acquires an initial environmental image in the synchronization mode based on the second exposure signal, and processes the initial environmental image using a timing compensation function to obtain a second environmental image. Based on the dual-output mode, the second environmental image is synchronously transmitted to the intelligent driving domain controller and the electronic rearview mirror.

[0008] Furthermore, the step of processing the initial environmental image using the time-compensation function to obtain a second environmental image includes: Obtain the exposure interval and exposure period of a single row of pixels in the synchronization mode; Detect whether the exposure interval and the exposure period meet the interpolation exposure conditions; If the interpolation exposure conditions are met, interpolation exposure is triggered within the exposure interval of the single row of pixels to generate an interpolated image, and a second environment image is generated based on the interpolated image and the initial environment image. If the interpolation exposure conditions are not met, the exposure frame rate in the synchronization mode is adjusted, and the initial environmental image is re-acquired by the rearview mirror camera based on the adjusted exposure frame rate. Motion compensation is then performed on the initial environmental image to obtain the second environmental image.

[0009] Furthermore, the step of performing motion compensation on the initial environmental image to obtain the second environmental image includes: Extract the first timestamp and the first motion state of the target object from the initial environmental image; Acquire the third environmental image collected by the intelligent driving domain controller, and extract the second timestamp and the second motion state of the target object from the third environmental image; The first timestamp and the second timestamp, as well as the first motion state and the second motion state, are compared respectively to obtain the comparison results; Based on the comparison results, motion compensation is performed on the initial environmental image to obtain a second environmental image.

[0010] Furthermore, the method also includes: Read the operating status information stored in the target domain controller, wherein the target domain controller is a domain controller connecting the electronic rearview mirror and the intelligent driving domain controller, and the status information includes the operating status of the electronic rearview mirror and / or the intelligent driving domain controller; Identify abnormal information in the status information, and control the rearview mirror camera to perform image processing operations based on the source of the abnormal information.

[0011] Furthermore, the step of controlling the rearview mirror camera to perform image processing operations based on the information source of the abnormal information includes: If the source of the abnormal information is the intelligent driving domain controller, then the exposure permission of the rearview mirror camera is set to the electronic rearview mirror, and the rearview mirror camera is controlled by the electronic rearview mirror to collect a first environmental image and transmit the first environmental image to the electronic rearview mirror. If the source of the abnormal information is the electronic rearview mirror, then the timing compensation function is disabled, the exposure permission of the rearview mirror camera is switched to the intelligent driving domain controller, the intelligent driving domain controller controls the rearview mirror camera to collect an initial environmental image, and the initial environmental image is synchronously transmitted to the intelligent driving domain controller and the electronic rearview mirror as the second environmental image.

[0012] Secondly, embodiments of the present invention provide an electronic rearview mirror camera control device, the device comprising: The first control module is used to set the exposure permission of the rearview mirror camera to the electronic rearview mirror when the intelligent driving domain controller is not started, control the rearview mirror camera to collect a first environmental image through the electronic rearview mirror, and transmit the first environmental image to the electronic rearview mirror. The monitoring module is used to monitor whether the intelligent driving domain controller is in the startup state; The second control module is used to switch the exposure permission of the rearview mirror camera to the intelligent driving domain controller when it is in the enabled state, control the rearview mirror camera to collect a second environmental image through the intelligent driving domain controller, and synchronously transmit the second environmental image to the intelligent driving domain controller and the electronic rearview mirror.

[0013] Thirdly, embodiments of the present invention provide a computer device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0015] The method provided in this application has the following beneficial effects: The method provided in this application achieves system resource optimization and functional redundancy by dynamically allocating camera control rights and using a parallel image transmission mechanism. Before the intelligent driving domain controller is started, by setting the exposure permission to the electronic rearview mirror and directly controlling the camera to acquire and transmit images, a low-latency rear view is ensured immediately after vehicle startup, avoiding blind spots caused by intelligent driving system initialization and improving system availability and driving safety. Continuous monitoring of the intelligent driving domain controller's startup status enables real-time perception of the system's operating status, providing a basis for seamless control switching and ensuring smooth functional transitions. After the intelligent driving domain controller starts, the exposure permission is switched to the intelligent driving domain controller and a synchronous transmission mode is adopted. This satisfies the stringent requirements of intelligent driving systems for simultaneous exposure of multiple cameras, avoids additional latency introduced by domain control forwarding by directly transmitting images to the electronic rearview mirror, and constructs a primary-backup redundant architecture. That is, when any system malfunctions, the other system can quickly take over camera control, significantly improving system robustness and functional safety. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the electronic rearview mirror camera control method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the camera exposure timing and interpolation exposure conditions according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating another electronic rearview mirror camera control method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the electronic rearview mirror camera control system according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the system link of the electronic rearview mirror camera control system according to an embodiment of the present invention; Figure 6 This is a structural block diagram of an electronic rearview mirror camera control device according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] According to embodiments of the present invention, an electronic rearview mirror camera control method, apparatus, computer device, and medium are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0020] This embodiment provides a method for controlling an electronic rearview mirror camera. Figure 1 This is a flowchart of an electronic rearview mirror camera control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps: Step S101: When the intelligent driving domain controller is not started, the exposure permission of the rearview mirror camera is set to the electronic rearview mirror. The rearview mirror camera is controlled by the electronic rearview mirror to collect the first environmental image and transmit the first environmental image to the electronic rearview mirror.

[0021] In this embodiment, after the vehicle is powered on, considering the higher availability of the electronic rearview mirror power supply system in certain restricted scenarios, the electronic rearview mirror powers the rearview mirror camera to ensure it immediately enters working mode. The electronic rearview mirror assigns the exposure permission of the rearview mirror camera to itself and controls the camera to use an automatic exposure mode (i.e., the camera automatically adjusts the exposure parameters according to the ambient light). Simultaneously, it configures a serializer to set the image output mode to a single-channel output mode (i.e., a "1-in, 1-out" mode, meaning image data is only output to the electronic rearview mirror). In this mode, the rearview mirror camera acquires the first environmental image (i.e., real-time image behind the vehicle) at a frame rate of 40-50 frames per second (fps). The image data is directly sent to the electronic rearview mirror for display via the serializer-deserializer-image processor transmission link. This process ensures that before the intelligent driving domain controller starts (usually for 20-30 seconds), the electronic rearview mirror can independently and with low latency acquire and display the rear view, meeting the real-time imaging requirements of the streaming media rearview mirror (e.g., latency within 200ms).

[0022] Step S102: Monitor whether the intelligent driving domain controller is in the startup state.

[0023] In this embodiment, after the vehicle is powered on, the electronic rearview mirror periodically (e.g., at 100ms intervals) reads the operating status information in the designated storage area of ​​the target domain controller (i.e., the intermediate domain controller connecting the electronic rearview mirror and the intelligent driving domain controller, such as the body domain controller or cockpit domain controller) to monitor in real time whether the intelligent driving domain controller has completed startup and entered the working state. This operating status information is dynamically updated by the intelligent driving domain controller during its startup process. When it completes hardware initialization, software loading, and has image processing capabilities, it writes a specific status value (such as a "ready" flag) to the shared storage area of ​​the target domain controller. The electronic rearview mirror can determine whether the intelligent driving domain controller is in a "not started," "starting," or "enabled" state by parsing this status value. This monitoring mechanism utilizes the domain control communication link (electronic rearview mirror - target domain controller - intelligent driving domain controller) in the existing vehicle electronic and electrical architecture, without the need for additional hardware connections, and realizes visualized monitoring of cross-system status.

[0024] In step S103, if the system is enabled, the exposure permission of the rearview mirror camera is switched to the intelligent driving domain controller. The intelligent driving domain controller controls the rearview mirror camera to collect a second environmental image and transmits the second environmental image to the intelligent driving domain controller and the electronic rearview mirror simultaneously.

[0025] In this embodiment, after the electronic rearview mirror confirms that the intelligent driving domain controller has been activated, the exposure authority of the rearview mirror camera is switched from the electronic rearview mirror to the intelligent driving domain controller. The intelligent driving domain controller takes over the control of the camera, switches the camera's exposure mode from automatic mode to synchronous mode (to meet the requirements of synchronous exposure of multiple cameras in the intelligent driving system, usually set to 30fps), and simultaneously switches the image output mode from single-channel output mode to dual-channel output mode (i.e., "1-in, 2-out" mode) by reconfiguring the serializer. In synchronous mode, the intelligent driving domain controller sends a synchronous second exposure signal to the camera, controls it to acquire the initial environmental image, and processes the initial image using the timing compensation function (by triggering interpolation exposure or adjusting the frame rate and performing motion compensation during the exposure interval) to generate a second environmental image that meets the 40~50fps requirement. The second environmental image, based on the dual-channel output mode, is transmitted synchronously in parallel to the intelligent driving domain controller (for environmental perception and driving decision-making) and the electronic rearview mirror (for rear view display) through the serializer. This direct transmission link avoids the delay introduced by the image forwarding through the domain controller, ensuring that the electronic rearview mirror display meets the latency requirements.

[0026] In this embodiment of the application, the rearview mirror camera is controlled by the electronic rearview mirror to acquire a first environmental image, and the first environmental image is transmitted to the electronic rearview mirror, including the following steps A1-A3: Step A1: When the exposure permission is set to electronic rearview mirror, set the exposure mode of the rearview mirror camera to automatic mode and the image output mode of the rearview mirror camera to single-channel output mode.

[0027] Specifically, once the electronic rearview mirror gains exposure control authority, it sets the exposure mode of the rearview mirror camera to automatic mode via internal control commands. In this mode, the rearview mirror camera can automatically calculate and adjust exposure parameters (such as shutter speed and gain) according to ambient lighting conditions, without the need for real-time intervention from an external controller. It can acquire clear and usable first ambient images under different lighting conditions. At the same time, the electronic rearview mirror, through the configuration of a serializer (a chip responsible for serializing and transmitting image data) connected to the rearview mirror camera, sets its working mode to single-output mode (i.e., "1-in-1-out" mode). In this mode, the image data acquired by the camera is output to the electronic rearview mirror's dedicated deserializer and image processor through a single link, forming a point-to-point direct transmission channel.

[0028] Step A2, in response to the first exposure signal of the electronic rearview mirror.

[0029] Specifically, with the exposure permission set to the electronic rearview mirror and the camera's operating mode initialized, the electronic rearview mirror periodically generates and sends a first exposure signal at a preset acquisition frame rate (40~50fps). This signal is a timing trigger command transmitted to the rearview mirror camera via a control bus such as I2C or SPI. Upon receiving the first exposure signal, the camera's internal exposure controller immediately initiates a single exposure sequence based on the exposure parameters (including exposure duration and gain value) calculated in the current automatic mode. The camera captures scene light through the image sensor and converts it into raw image data. The generation of the first exposure signal can be dynamically adjusted in conjunction with the real-time display buffer status to optimize power consumption and data stream stability while ensuring the minimum frame rate meets the requirement (≥30fps).

[0030] Step A3: The rearview mirror camera acquires a first environmental image in automatic mode based on the first exposure signal, and transmits the first environmental image to the electronic rearview mirror based on the single-channel output mode.

[0031] Specifically, when the rearview mirror camera receives the first exposure signal from the electronic rearview mirror, it immediately starts the image acquisition sequence in the configured automatic exposure mode, captures optical information through the image sensor and generates a first environmental image. This image data then enters the transmission link. Based on the set single-channel output mode, the image data is first serialized by the serializer inside the camera, and then transmitted to the first deserializer of the electronic rearview mirror through a dedicated high-speed serial link. The first deserializer decodes and recovers the received serial data, and sends the reconstructed image data to the first image processor of the electronic rearview mirror for processing and format optimization, and displays it on the display screen of the electronic rearview mirror in real time.

[0032] By setting the exposure mode to automatic, the camera can adapt to changes in ambient light to ensure image quality. At the same time, by setting the image output mode to single-channel output mode, a dedicated direct connection channel from the camera to the electronic rearview mirror is constructed, effectively reducing system complexity and transmission latency. By responding to the first exposure signal of the electronic rearview mirror, precise synchronization between image acquisition timing and display requirements is ensured. Based on the single-channel output mode, the first ambient image is directly transmitted to the electronic rearview mirror, forming an optimized point-to-point transmission path, enabling the system to meet the low-latency display requirements of the streaming media rearview mirror before the intelligent driving domain controller is activated.

[0033] In this embodiment of the application, the rearview mirror camera is controlled by the intelligent driving domain controller to acquire a second environmental image, and the second environmental image is synchronously transmitted to the intelligent driving domain controller and the electronic rearview mirror, including the following steps B1-B4: Step B1: When the exposure permission is set to the intelligent driving domain controller, switch the exposure mode of the rearview mirror camera to synchronous mode and switch the image output mode of the rearview mirror camera to dual-channel output mode.

[0034] Specifically, once the intelligent driving domain controller obtains exposure control authority, it switches the exposure mode of the rearview mirror camera from automatic mode to synchronous mode via the control bus. In this mode, the camera no longer calculates exposure parameters independently, but instead accepts the synchronous exposure command sent by the intelligent driving domain controller. It maintains strict synchronous exposure with other cameras in the intelligent driving system at a fixed frame rate (usually 30fps) to ensure the temporal consistency of multi-channel visual data. At the same time, the intelligent driving domain controller reconfigures the serializer connected to the camera, switching its output mode from single-channel output mode to dual-channel output mode (i.e., "1-in, 2-out" mode). In this mode, the image data acquired by the camera is copied into two independent data streams, which are output in parallel through the same serializer to two different deserializers (i.e., the first deserializer in the electronic rearview mirror and the second deserializer in the intelligent driving domain controller), and transmitted to the intelligent driving domain controller and the electronic rearview mirror respectively.

[0035] Step B2, in response to the second exposure signal from the intelligent driving domain controller.

[0036] Specifically, after reconfiguring the camera's working mode, the intelligent driving domain controller, according to its global exposure synchronization strategy, periodically broadcasts a second exposure signal to all associated cameras (including the rearview mirror camera) via a dedicated control bus. The second exposure signal is a timed synchronization trigger pulse that ensures that multiple cameras start exposure at the same time, thereby guaranteeing strict time alignment of images acquired from different perspectives. After receiving the second exposure signal in synchronization mode, the rearview mirror camera immediately starts the exposure sequence according to the exposure parameters preset by the intelligent driving domain controller (replacing the autonomous calculation in automatic mode) and begins to acquire the initial environmental image.

[0037] Step B3: Acquire an initial environmental image in synchronous mode using the rearview mirror camera based on the second exposure signal, and process the initial environmental image using the timing compensation function to obtain the second environmental image.

[0038] Specifically, after the rearview mirror camera acquires the initial environmental image based on the second exposure signal in synchronous mode, the intelligent driving domain controller will activate its timing compensation function. This function analyzes the timing margin within the synchronous exposure cycle and performs frame rate enhancement processing on the initial image: The controller first calculates the sum of the exposure time of a single row of pixels and the row interval time, and determines whether twice the value is less than the synchronous exposure cycle (e.g., 33ms at 30fps). If this interpolation exposure condition is met, an additional exposure sequence is inserted in the blank period between two normally exposed images to generate interpolated images. These interpolated images are then interleaved and combined with the initial environmental image in chronological order to form a second environmental image with a frame rate enhanced to 40-50fps.

[0039] In this embodiment of the application, the initial environmental image is processed using a time-compensation function to obtain a second environmental image, including the following steps B31-B34: Step B31: Obtain the exposure interval and exposure period of a single row of pixels in synchronous mode.

[0040] Specifically, the intelligent driving domain controller obtains two core timing parameters in synchronous mode by reading the configuration register and internal timer of the rearview mirror camera: the exposure interval of a single row of pixels (i.e., the complete time from the start of exposure to data readout of a single row of pixels in the image sensor, including the effective exposure time and blanking time of the row) and the exposure period (i.e., the time interval between the start of exposure of two consecutive frames of images, which is fixed at about 33ms in 30fps synchronous mode). The exposure interval of a single row of pixels is obtained by parsing the timing configuration file of the camera sensor, while the exposure period is directly determined by the global synchronization clock of the intelligent driving domain controller.

[0041] Step B32: Check whether the exposure interval and exposure period meet the interpolation exposure conditions.

[0042] Specifically, the intelligent driving domain controller multiplies the exposure interval of a single row of pixels (i.e., the sum of the effective exposure time of a single row and the blanking time of the row) by 2, and then compares the calculation result with the exposure period (fixed at approximately 33ms), performing the logical operation (single row exposure time + row blanking time) × 2 < exposure period; if the operation result is true, it is determined that the interpolation exposure condition is met, indicating that there is a sufficient time window between two consecutive normally exposed images to insert a whole interpolated image; if the operation result is false, it is determined that the interpolation exposure condition is not met, indicating that there is not sufficient timing margin within the synchronous exposure period for interpolation operation.

[0043] As an example, such as Figure 2As shown, in a 30fps synchronous control scenario, the exposure period of two consecutive normal images is approximately 33ms. The first image starts progressive exposure at 4ms (assuming the image contains four lines of data, and the timing parameters such as the exposure interval of each line of pixels and related operations conform to the calculation logic). After comparing "twice the sum of single-line exposure time and line blanking time" with the exposure period (approximately 33ms), the intelligent driving domain controller determines that the interpolation exposure condition of "(single-line exposure time + line blanking time) × 2 < exposure period" is met. As can be seen from the timing in the figure, there is a sufficient timing window between the line exposure and data writing process of the first image and the start of the exposure of the second normal image (approximately 37ms), which can accommodate the exposure timing of the interpolated image. This intuitively demonstrates that when the interpolation exposure condition is met, there is a time possibility for inserting a new image between consecutive normal frames.

[0044] Step B33: If the interpolation exposure conditions are met, interpolation exposure is triggered within the exposure interval of a single row of pixels to generate an interpolated image, and a second environment image is generated based on the interpolated image and the initial environment image.

[0045] Specifically, once the interpolation exposure conditions are met, the intelligent driving domain controller will send an additional exposure trigger signal to the rearview mirror camera within a specific time window (e.g., a 2ms delay after the first line of data is read in normal exposure) within the exposure interval of a single row of pixels, thus initiating the interpolation exposure sequence. The interpolated image generated by this exposure has the same resolution and format as the initial environmental image acquired in normal synchronous mode, but captures scene information at different time points. The interpolated image and the initial environmental image are interleaved in chronological order, that is, they are combined into a continuous image stream with increased frame rate according to the sequence of "normal frame - interpolated frame - normal frame". This image sequence after frame rate increase is defined as the second environmental image, with its frame rate increased from the baseline of 30fps to the range of 40-50fps.

[0046] Step B34: If the interpolation exposure conditions are not met, adjust the exposure frame rate in the synchronization mode, re-acquire the initial environmental image using the rearview mirror camera based on the adjusted exposure frame rate, and perform motion compensation on the initial environmental image to obtain the second environmental image.

[0047] Specifically, when the interpolation exposure conditions are not met, the intelligent driving domain controller will initiate an alternative compensation scheme: attempting to directly increase the exposure frame rate of the rearview mirror camera from 30fps in synchronous mode to 50fps, thus breaking it from the strict synchronous exposure sequence with other intelligent driving cameras. At this time, the rearview mirror camera re-acquires the initial environmental image based on the increased frame rate. By analyzing the temporal difference between the first timestamp embedded in the image data packet and the second timestamp of the images acquired by other cameras in the intelligent driving system, and combining the recognition results of the first motion state (including displacement speed and direction) of the target object (such as the vehicle behind) in the image, a motion estimation and compensation algorithm is used to perform pixel-level displacement correction on the initial environmental image, generating a second environmental image with significantly reduced motion artifacts. In addition, if the frame rate increase scheme is still not feasible, the original frame rate exposure is maintained, and post-processing frame interpolation is performed through the video encoder to output an optimized image that meets the display quality requirements of the streaming media rearview mirror.

[0048] By acquiring the exposure interval and exposure period of a single row of pixels, a precise parameter basis is provided for timing analysis. By detecting whether these parameters meet the interpolation exposure conditions, intelligent identification of different hardware conditions is achieved. When the conditions are met, interpolation exposure is triggered within the exposure interval and an interpolated image is generated, which significantly improves the output frame rate and effectively reduces motion blur. When the conditions are not met, by adjusting the exposure frame rate and combining it with motion compensation processing, high-quality image sequences can still be output while maintaining system synchronization, ensuring the robustness of the timing compensation function under various hardware limitations.

[0049] In this embodiment of the application, motion compensation is performed on the initial environmental image to obtain a second environmental image, including the following steps B341-B344: Step B341: Extract the first timestamp and the first motion state of the target object from the initial environment image.

[0050] Specifically, the intelligent driving domain controller performs metadata parsing on the initial environmental image captured by the rearview mirror camera in synchronous mode. It extracts the embedded first timestamp from the frame header information of the image data packet (this timestamp is added by the camera sensor at the end of the exposure, accurate to the millisecond level, and synchronized with the global clock of the intelligent driving system). Simultaneously, a visual analysis algorithm running on the domain controller detects and tracks dynamic elements in the initial environmental image, identifies target objects (such as vehicles or pedestrians behind), and calculates their first motion state. This first motion state includes parameters such as instantaneous velocity vector, direction of motion, and acceleration. These parameters are calculated by analyzing the pixel displacement of the target object between consecutive frames, combined with camera calibration parameters and a known time reference. This data extraction process provides the necessary input parameters for subsequent spatiotemporal alignment compensation, ensuring that motion compensation has an accurate spatiotemporal reference.

[0051] Step B342: Obtain the third environmental image collected by the intelligent driving domain controller, and extract the second timestamp and the second motion state of the target object from the third environmental image.

[0052] Specifically, the intelligent driving domain controller acquires third environmental images synchronously captured by other cameras in the intelligent driving system (such as forward-looking or side-looking cameras) through its internal multi-channel image acquisition interface; then the controller parses the frame header metadata of the image data packet and extracts the embedded second timestamp (this timestamp is generated based on the same global synchronization clock as the first timestamp); at the same time, the multi-target tracking algorithm running on the domain controller identifies and analyzes the motion of target objects in the third environmental images, and calculates its second motion state in three-dimensional space (including velocity vector and motion trajectory) by comparing the position changes of the object in consecutive frames and combining the known time intervals.

[0053] Step B343: Compare the first timestamp with the second timestamp, and the first motion state with the second motion state, respectively, to obtain the comparison results.

[0054] Specifically, the intelligent driving domain controller performs time synchronization verification between the first and second timestamps, calculates the absolute time difference between them to obtain the timing deviation; at the same time, it compares the spatial alignment of the motion vectors in the first and second motion states, and calculates the motion consistency index by calculating the difference in magnitude of the velocity vector and the angle between the directions; the controller combines the timing deviation and the motion consistency index to construct a comparison result data structure containing numerical comparison results. This structure not only contains the quantified values ​​of the differences of various parameters, but also includes flag bits to indicate whether the differences exceed a preset threshold.

[0055] Step B344: Motion compensation is performed on the initial environmental image based on the comparison results to obtain the second environmental image.

[0056] Specifically, the intelligent driving domain controller calls its integrated motion estimation and compensation algorithm based on the timing deviation and motion state difference values ​​in the comparison results: First, it calculates the inter-frame time offset based on the time difference between the first and second timestamps, and establishes a motion compensation model by combining the velocity vector difference between the first and second motion states; then, the motion compensation model applies the calculated displacement vector to each pixel block in the initial environmental image, and generates a motion-corrected transition frame through pixel relocation and interpolation operations; finally, the image frame sequence that has undergone spatiotemporal alignment and motion compensation processing is reassembled into a smooth second environmental image.

[0057] By extracting the first timestamp and the first motion state from the initial environmental image, the spatiotemporal reference information of this camera was obtained; by acquiring the third environmental image and extracting its second timestamp and second motion state, a multi-view reference coordinate system was established; by comparing the two timestamps and the two motion states, the spatiotemporal differences between the data collected by different cameras were quantified; based on the comparison results, motion compensation was performed on the initial environmental image, effectively eliminating motion artifacts caused by the time difference of acquisition and generating an optimized image with spatiotemporal consistency.

[0058] Step B4: Based on the dual-output mode, the second environmental image is synchronously transmitted to the intelligent driving domain controller and the electronic rearview mirror.

[0059] Specifically, after generating the second environmental image, the intelligent driving domain controller, based on the set dual-output mode, copies the image data stream into two identical parallel data streams through the serializer connected to the rearview mirror camera (configured to a "1-in, 2-out" working mode). One data stream is directly transmitted to the deserializer of the electronic rearview mirror system via a dedicated high-speed serial link, and is displayed in real time after being processed by the image processor. This direct connection path ensures that the image transmission latency of the streaming rearview mirror always meets the requirements. The other data stream is synchronously transmitted to the intelligent driving domain controller's own deserializer to provide environmental perception data for the intelligent driving algorithm. By switching the exposure mode to a synchronization mode, the rearview mirror camera maintains exposure synchronization with other cameras in the intelligent driving system, ensuring the temporal consistency of multi-sensor data. At the same time, switching the image output mode to a dual-channel output mode establishes the hardware foundation for dual-function operation. Global exposure synchronization control is achieved by responding to the second exposure signal from the intelligent driving domain controller. The timing compensation function is used to process the initial environmental image, effectively improving the timing resolution of the output image. Based on the dual-channel output mode, the second environmental image is synchronously transmitted to both systems, which not only meets the environmental perception requirements of the intelligent driving system, but also ensures the real-time display of the electronic rearview mirror through a direct connection link.

[0060] In the embodiments of this application, such as Figure 3 As shown, the method also includes: Step S201: Read the operating status information stored in the target domain controller, wherein the target domain controller is the domain controller connecting the electronic rearview mirror and the intelligent driving domain controller, and the status information includes the operating status of the electronic rearview mirror and / or the intelligent driving domain controller.

[0061] In this embodiment, the electronic rearview mirror and the intelligent driving domain controller access a pre-defined address area in the shared storage of the target domain controller (i.e., the third controller acting as a communication intermediary, typically the body domain controller or cockpit domain controller) via the vehicle network bus (e.g., CAN or Ethernet) at a preset fixed frequency (e.g., 100ms). This storage area is updated in real time with operating status information written by each system. This status information is stored in a structured data format and includes key parameters such as the electronic rearview mirror's self-diagnostic status (e.g., normal power supply, normal display function), the intelligent driving domain controller's operating status (e.g., startup complete, running, fault code), and the health status of the rearview mirror camera. The status sharing mechanism utilizes the domain control communication resources in the existing vehicle electronic and electrical architecture to achieve bidirectional status visualization management between the electronic rearview mirror and the intelligent driving domain controller, which originally had no direct connection.

[0062] Step S202: Identify abnormal information in the status information, and control the rearview mirror camera to perform image processing operations based on the source of the abnormal information.

[0063] In this embodiment, the electronic rearview mirror and the intelligent driving domain controller parse the status information read from the target domain controller and use a preset diagnostic rule base (including threshold comparison, state machine transition detection, and other algorithms) to identify abnormal information in real time. The abnormal information includes hardware fault flags, communication timeout indications, and functional module stuck states. Based on the information source field of the abnormal information (which clearly identifies the initiator of the abnormal report in the status information data structure), the corresponding fault-tolerant control strategy is immediately triggered: if the abnormal source is the intelligent driving domain controller, the electronic rearview mirror will execute the control takeover process; if the abnormal source is the electronic rearview mirror, the intelligent driving domain controller will adjust the image processing strategy.

[0064] The system achieves continuous health management through a two-level monitoring mechanism: it reads the operating status information stored in the target domain controller and realizes cross-system status sharing by utilizing the existing vehicle network architecture, avoiding the deployment of additional communication lines; it identifies abnormal information in the status information and controls the camera to perform corresponding operations based on its source, establishing a rapid fault response mechanism to ensure that the system can adjust its working mode in a timely manner when components malfunction, maintaining the normal operation of core functions.

[0065] In this embodiment of the application, the rearview mirror camera is controlled to perform image processing operations based on the information source of the abnormal information, including the following steps C1-C2: Step C1: If the source of the abnormal information is the intelligent driving domain controller, then the exposure permission of the rearview mirror camera is set to the electronic rearview mirror. The rearview mirror camera is controlled by the electronic rearview mirror to collect the first environmental image and transmit the first environmental image to the electronic rearview mirror.

[0066] Specifically, when the electronic rearview mirror identifies the source of abnormal information as the intelligent driving domain controller (such as detecting a power-off, restart, or functional malfunction) by analyzing the status information in the target domain controller, it immediately initiates a control takeover procedure: First, it resets the exposure permission of the rearview mirror camera to the electronic rearview mirror itself, switches the camera's working mode from synchronous mode back to automatic exposure mode, and simultaneously restores the image output mode from dual-channel output mode to single-channel output mode by reconfiguring the serializer; then, the electronic rearview mirror generates a first exposure signal at a preset frame rate of 40~50fps, controls the rearview mirror camera to acquire a first environmental image, and transmits the image data to the electronic rearview mirror for display via a single direct transmission link.

[0067] Step C2: If the source of the abnormal information is the electronic rearview mirror, then disable the timing compensation function, switch the exposure permission of the rearview mirror camera to the intelligent driving domain controller, control the rearview mirror camera to collect the initial environmental image through the intelligent driving domain controller, and transmit the initial environmental image as the second environmental image to the intelligent driving domain controller and the electronic rearview mirror simultaneously.

[0068] Specifically, when the intelligent driving domain controller identifies the source of abnormal information as the electronic rearview mirror (such as detecting a display failure or communication interruption) by parsing the status information in the target domain controller, it immediately initiates a degraded operation mode: First, it disables the timing compensation function designed to improve the streaming media display effect (i.e., stops interpolation exposure and frame rate enhancement processing), retains the exposure authority of the rearview mirror camera as belonging to the intelligent driving domain controller, and simultaneously switches the image output mode from dual-channel output mode to single-channel output mode (i.e., "1 in, 1 out") by reconfiguring the serializer; then, the intelligent driving domain controller controls the rearview mirror camera to acquire the initial environmental image at a baseline frame rate of 30fps, and directly uses the uninterpolated initial environmental image as the second environmental image, transmitting it to the intelligent driving domain controller for use by the intelligent driving system through the single-channel output mode.

[0069] The system achieves smooth degradation through differentiated fault tolerance strategies: when the abnormal information originates from the intelligent driving domain controller, the exposure authority is returned to the electronic rearview mirror and switched to single-channel output mode, ensuring the continuous availability of the streaming media rearview mirror function and forming an effective functional backup; when the abnormal information originates from the electronic rearview mirror, the timing compensation function is disabled and the control of the intelligent driving domain controller is maintained, simplifying the processing flow while ensuring that the core functions of intelligent driving are not affected, reflecting the fault quiescence principle of the system design.

[0070] This embodiment provides an electronic rearview mirror camera control system. Figure 4 This is a structural block diagram of the electronic rearview mirror camera control system according to an embodiment of the present invention, such as... Figure 4As shown, the system includes: a rearview mirror camera 100, an electronic rearview mirror 200, an intelligent driving domain controller 300, and a target domain controller 400. The rearview mirror camera 100 is used to capture environmental images behind the vehicle and switch the exposure mode and image output mode according to the exposure signal of the exposure authority. The electronic rearview mirror 200 is used to control the rearview mirror camera 100 to collect and display images when the intelligent driving domain controller 300 is not started, and at the same time monitor the operating status of the intelligent driving domain controller 300 and take over the control of the rearview mirror camera in case of abnormality. The intelligent driving domain controller 300 is used to take over the control of the rearview mirror camera after startup, realize the synchronous exposure and image processing of multiple cameras, and synchronously transmit the processed image to the electronic rearview mirror 200. The target domain controller 400 is used as a communication intermediary between the electronic rearview mirror 200 and the intelligent driving domain controller 300, and stores and relays the operating status information of the electronic rearview mirror 200 and / or the intelligent driving domain controller 300.

[0071] Specifically, the system link of the electronic rearview mirror camera control system, such as Figure 5 As shown, this link includes two serial links: serial link 1 is used for image data transmission between the rearview mirror camera 100 and the electronic rearview mirror 200, enabling the electronic rearview mirror 200 to receive images captured by the camera for processing and presentation on the display end; serial link 2 is used for image and control signal interaction between the rearview mirror camera 100 and the intelligent driving domain controller 300, allowing the intelligent driving domain controller 300 to perform motion compensation, interpolation, and other intelligent driving-related algorithm processing after acquiring image data. Based on these two serial links, the electronic rearview mirror 200 and the intelligent driving domain controller 300 can control operations such as "exposure mode switching and image output mode adjustment" of the rearview mirror camera 100, either individually or collaboratively, according to the system operating status (such as whether the intelligent driving domain controller is started or abnormal). At the same time, the target domain controller 400 can use this link as a communication intermediary to store and relay the operating status information of the electronic rearview mirror 200 and the intelligent driving domain controller 300, ensuring information interaction and functional coordination between various modules of the system.

[0072] In this embodiment of the application, the rearview mirror camera 100 includes: Image sensor 101 is used to convert optical signals into electrical signals and complete image acquisition according to exposure control signals; The serializer 102 is used to serialize and transmit the acquired environmental images, and to switch between single-channel output mode and dual-channel output mode according to control instructions.

[0073] In this embodiment of the application, the electronic rearview mirror 200 includes: The first deserializer 201 is used to receive and parse serial image data from the rearview mirror camera 100; The first image processor 202 is used to process and optimize the parsed image data and drive the display screen to display it.

[0074] In this embodiment, the intelligent driving domain controller 300 includes: The second deserializer 301 is used to receive and parse the serial image data of the rearview mirror camera 100; The second image processor 302 is used to perform motion compensation, interpolation and other algorithmic processing on image data to provide environmental perception data for intelligent driving functions.

[0075] By replacing the traditional dual-camera solution with a shared rearview mirror camera design, hardware costs and wiring complexity are significantly reduced. A dual serial link architecture is adopted to achieve parallel transmission of image data. Serial link 1 ensures the low latency of the electronic rearview mirror display, while serial link 2 meets the high-precision processing requirements of the intelligent driving system. A target domain controller is introduced as a status information relay hub to build a cross-system real-time monitoring network. The functional modules within each component have clear division of labor: the image sensor and serializer work together to complete the acquisition and encoding, while the dual deserializer and image processor optimize the display quality and perception algorithm, respectively. This results in a camera control system that is cost-effective, has low latency, and is fault-tolerant.

[0076] This embodiment also provides an electronic rearview mirror camera control device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0077] This embodiment provides an electronic rearview mirror camera control device, such as... Figure 6 As shown, it includes: The first control module 61 is used to set the exposure permission of the rearview mirror camera to the electronic rearview mirror when the intelligent driving domain controller is not started, control the rearview mirror camera to collect the first environmental image through the electronic rearview mirror, and transmit the first environmental image to the electronic rearview mirror. Monitoring module 62 is used to monitor whether the intelligent driving domain controller is in the startup state; The second control module 63, if in the enabled state, switches the exposure permission of the rearview mirror camera to the intelligent driving domain controller, controls the rearview mirror camera to collect a second environmental image through the intelligent driving domain controller, and synchronously transmits the second environmental image to the intelligent driving domain controller and the electronic rearview mirror.

[0078] In this embodiment, the first control module 61 is configured to set the exposure mode of the rearview mirror camera to automatic mode and the image output mode of the rearview mirror camera to single-channel output mode when the exposure permission is set to the electronic rearview mirror; respond to the first exposure signal of the electronic rearview mirror; acquire a first environmental image in automatic mode through the rearview mirror camera according to the first exposure signal, and transmit the first environmental image to the electronic rearview mirror based on the single-channel output mode.

[0079] In this embodiment of the application, the second control module 63 includes: The switching submodule is used to switch the exposure mode of the rearview mirror camera to synchronous mode and the image output mode of the rearview mirror camera to dual-channel output mode when the exposure permission is set to the intelligent driving domain controller. The response submodule is used to respond to the second exposure signal from the intelligent driving domain controller; The processing submodule is used to acquire an initial environmental image in synchronous mode using the rearview mirror camera based on the second exposure signal, and to process the initial environmental image using the timing compensation function to obtain a second environmental image. The transmission submodule is used to synchronously transmit the second environmental image to the intelligent driving domain controller and the electronic rearview mirror based on the dual-output mode.

[0080] In this embodiment of the application, the processing submodule includes: The acquisition unit is used to acquire the exposure interval and exposure period of a single row of pixels in synchronous mode; The detection unit is used to detect whether the exposure interval and exposure period meet the interpolation exposure conditions. The first generation unit is used to trigger interpolation exposure within the exposure interval of a single row of pixels if the interpolation exposure conditions are met, generate an interpolated image, and generate a second environment image based on the interpolated image and the initial environment image. The second generation unit is used to adjust the exposure frame rate in the synchronization mode if the interpolation exposure conditions are not met, re-acquire the initial environmental image through the rearview mirror camera based on the adjusted exposure frame rate, and perform motion compensation on the initial environmental image to obtain the second environmental image.

[0081] In this embodiment of the application, the second generation unit is used to extract the first timestamp and the first motion state of the target object from the initial environmental image; acquire the third environmental image collected by the intelligent driving domain controller, and extract the second timestamp and the second motion state of the target object from the third environmental image; compare the first timestamp with the second timestamp and the first motion state with the second motion state respectively to obtain the comparison result; and perform motion compensation on the initial environmental image based on the comparison result to obtain the second environmental image.

[0082] In this embodiment of the application, the apparatus further includes: The reading module is used to read the operating status information stored in the target domain controller, wherein the target domain controller is the domain controller connecting the electronic rearview mirror and the intelligent driving domain controller, and the status information includes the operating status of the electronic rearview mirror and / or the intelligent driving domain controller. The recognition module is used to identify abnormal information in the status information and control the rearview mirror camera to perform image processing operations based on the source of the abnormal information.

[0083] In this embodiment, the identification module is configured to, if the source of the abnormal information is the intelligent driving domain controller, set the exposure permission of the rearview mirror camera to the electronic rearview mirror, control the rearview mirror camera to collect a first environmental image through the electronic rearview mirror, and transmit the first environmental image to the electronic rearview mirror; if the source of the abnormal information is the electronic rearview mirror, disable the timing compensation function, switch the exposure permission of the rearview mirror camera to the intelligent driving domain controller, control the rearview mirror camera to collect an initial environmental image through the intelligent driving domain controller, and synchronously transmit the initial environmental image as a second environmental image to the intelligent driving domain controller and the electronic rearview mirror.

[0084] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 7 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0085] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0086] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0087] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0088] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0089] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0090] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0091] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An electronic rearview mirror camera control method, characterized by, The method comprises: when the intelligent driving domain controller is not started, setting the exposure authority of the rearview mirror camera to the electronic rearview mirror, controlling the rearview mirror camera to collect a first environment image through the electronic rearview mirror, and transmitting the first environment image to the electronic rearview mirror; monitoring whether the intelligent driving domain controller is in a started state; if the intelligent driving domain controller is in the started state, switching the exposure authority of the rearview mirror camera to the intelligent driving domain controller, controlling the rearview mirror camera to collect a second environment image through the intelligent driving domain controller, and synchronously transmitting the second environment image to the intelligent driving domain controller and the electronic rearview mirror.

2. The method of claim 1, wherein, The method comprises: when the exposure authority is set to the electronic rearview mirror, setting the exposure mode of the rearview mirror camera to an automatic mode, and setting the image output mode of the rearview mirror camera to a single-channel output mode; in response to a first exposure signal of the electronic rearview mirror; collecting a first environment image in the automatic mode through the rearview mirror camera according to the first exposure signal, and transmitting the first environment image to the electronic rearview mirror based on the single-channel output mode.

3. The method of claim 1, wherein, The method comprises: when the exposure authority is set to the intelligent driving domain controller, switching the exposure mode of the rearview mirror camera to a synchronous mode, and switching the image output mode of the rearview mirror camera to a double-channel output mode; in response to a second exposure signal of the intelligent driving domain controller; collecting an initial environment image in the synchronous mode through the rearview mirror camera according to the second exposure signal, and processing the initial environment image by using a time sequence compensation function to obtain a second environment image; synchronously transmitting the second environment image to the intelligent driving domain controller and the electronic rearview mirror based on the double-channel output mode.

4. The method of claim 3, wherein, The method comprises: obtaining an exposure interval and an exposure period of a single row of pixels in the synchronous mode; detecting whether the exposure interval and the exposure period meet interpolation exposure conditions; if the interpolation exposure conditions are met, triggering interpolation exposure in the exposure interval of the single row of pixels to generate an interpolation image, and generating a second environment image based on the interpolation image and the initial environment image; if the interpolation exposure conditions are not met, adjusting the exposure frame rate in the synchronous mode, re-collecting an initial environment image through the rearview mirror camera based on the adjusted exposure frame rate, and performing motion compensation on the initial environment image to obtain the second environment image.

5. The method of claim 4, wherein, The method comprises: extracting a first timestamp and a first motion state of a target object in the initial environment image; acquire a third environment image collected by the intelligent driving domain controller, and extract a second timestamp and a second motion state of a target object in the third environment image; compare the first timestamp and the second timestamp, and the first motion state and the second motion state respectively, to obtain a comparison result; perform motion compensation on the initial environment image based on the comparison result to obtain a second environment image.

6. The method of claim 1, wherein, The method further comprises: reading running state information stored in a target domain controller, wherein the target domain controller is a domain controller connected between the electronic rearview mirror and the intelligent driving domain controller, and the state information includes running states of the electronic rearview mirror and / or the intelligent driving domain controller; identifying abnormal information in the state information, and controlling the rearview mirror camera to perform an image processing operation based on an information source of the abnormal information.

7. The method of claim 6, wherein, The controlling the rearview mirror camera to perform an image processing operation based on the information source of the abnormal information comprises: if the information source of the abnormal information is the intelligent driving domain controller, setting exposure ownership of the rearview mirror camera to the electronic rearview mirror, controlling the rearview mirror camera to collect a first environment image through the electronic rearview mirror, and transmitting the first environment image to the electronic rearview mirror; if the information source of the abnormal information is the electronic rearview mirror, disabling a time sequence compensation function, switching exposure ownership of the rearview mirror camera to the intelligent driving domain controller, controlling the rearview mirror camera to collect an initial environment image through the intelligent driving domain controller, and synchronously transmitting the initial environment image to the intelligent driving domain controller and the electronic rearview mirror as the second environment image.

8. An electronic rearview mirror camera control device, characterized by, The device comprises: a first control module configured to, when the intelligent driving domain controller is not started, set exposure ownership of the rearview mirror camera to the electronic rearview mirror, control the rearview mirror camera to collect a first environment image through the electronic rearview mirror, and transmit the first environment image to the electronic rearview mirror; a monitoring module configured to monitor whether the intelligent driving domain controller is in a started state; a second control module configured to, if the intelligent driving domain controller is in the started state, switch exposure ownership of the rearview mirror camera to the intelligent driving domain controller, control the rearview mirror camera to collect a second environment image through the intelligent driving domain controller, and synchronously transmit the second environment image to the intelligent driving domain controller and the electronic rearview mirror.

9. A computer device, comprising: comprise: a memory and a processor in communication connection with each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to perform the method of any one of claims 1 to 7.

Images