Exposure control method, system, vehicle and device for vehicle-mounted camera

Abstract

The application discloses an exposure control method, system, vehicle and device of a vehicle-mounted camera. The exposure control method of the vehicle-mounted camera comprises the following steps: acquiring a vehicle speed, positioning data and navigation data of the vehicle; obtaining a time when the vehicle reaches a tunnel entrance and exit according to the vehicle speed, the positioning data and the navigation data of the vehicle; calculating a relative angle between the vehicle and the sun at a target time, wherein the target time is determined according to the time when the vehicle reaches the tunnel entrance and exit and a preset time advance; determining an exposure level according to the relative angle between the vehicle and the sun; and adjusting an exposure parameter of the vehicle-mounted camera according to the exposure level at the target time. According to the application, the exposure parameter of the vehicle-mounted camera can be adjusted according to the relative angle between the vehicle and the sun before the vehicle reaches the tunnel entrance and exit, so that overexposure or underexposure in shooting is avoided, and the driving safety of the vehicle is ensured.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an exposure control method, system, vehicle, and device for an in-vehicle camera. Background Technology

[0002] In the field of autonomous driving, vehicle cameras are crucial sensors for environmental perception. However, existing vehicle cameras are mostly effective in scenarios with relatively stable lighting intensity. In situations where lighting intensity changes rapidly, such as entering or exiting tunnels or in strong backlighting, they may experience temporary overexposure leading to blindness or underexposure. Existing technologies employ two approaches: one uses high-precision maps and positioning to adjust exposure parameters in advance when a tunnel entrance or exit is detected, achieving appropriately bright images, but the high cost of these high-precision maps and positioning solutions is significant. Another approach involves rapidly capturing multiple images with different exposures and synthesizing them into a single high dynamic range image. However, this method can only synthesize images temporarily upon reaching the tunnel entrance or exit, lacking the ability to predict and adjust in advance, thus failing to meet the real-time requirements of autonomous driving. Summary of the Invention

[0003] Therefore, it is necessary to provide an exposure control method, system, vehicle, and device for vehicle-mounted cameras to address the aforementioned technical problems. This method can adjust the exposure parameters of the vehicle-mounted camera before the vehicle reaches the tunnel entrance or exit based on the relative angle between the vehicle and the sun, thereby avoiding overexposure or underexposure during shooting and ensuring vehicle driving safety.

[0004] Firstly, a method for controlling the exposure of an in-vehicle camera is provided, including: Acquire vehicle speed, vehicle location data, and navigation data; Based on the vehicle speed, vehicle positioning data, and navigation data, the time it takes for the vehicle to arrive at the tunnel entrance and exit is obtained; Calculate the relative angle between the vehicle and the sun at the target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level is determined based on the relative angle between the vehicle and the sun; At the target time, the exposure parameters of the vehicle-mounted camera are adjusted according to the exposure level.

[0005] Furthermore, the step of obtaining the vehicle's arrival time at the tunnel entrance / exit based on the vehicle speed, vehicle positioning data, and navigation data includes: Based on the vehicle's positioning and navigation data, the distance between the vehicle and the tunnel entrance / exit is obtained; The time it takes for the vehicle to reach the tunnel entrance / exit is determined based on the vehicle speed and the distance between the vehicle and the tunnel entrance / exit.

[0006] Furthermore, the calculation of the relative angle between the vehicle and the sun at the target time includes: Obtain the vehicle's heading angle, solar altitude angle, and azimuth angle at the target time; Based on the vehicle's heading angle, the sun's altitude angle, and azimuth angle, the relative angle between the vehicle and the sun at the target time is determined.

[0007] Furthermore, determining the exposure level based on the relative angle between the vehicle and the sun includes: Obtain the preset angle threshold; The exposure level is determined based on the relationship between the preset angle threshold and the relative angle between the vehicle and the sun.

[0008] Further, the preset angle threshold includes a first angle threshold and a second angle threshold, the tunnel entrance / exit includes a tunnel entrance, and determining the exposure level based on the relationship between the preset angle threshold and the relative angle between the vehicle and the sun includes: At the target time before the vehicle enters the tunnel entrance, if the relative angle between the vehicle and the sun is less than a first angle threshold, it is a backlighting-tunnel condition; if the relative angle is between the first and second angle thresholds, it is a sidelighting-tunnel condition; and if the relative angle is greater than the second angle threshold, it is a frontlighting-tunnel condition. The second angle threshold is greater than the first angle threshold, and different conditions correspond to different exposure levels.

[0009] Furthermore, the tunnel entrance / exit also includes a tunnel exit, wherein determining the exposure level based on the preset angle threshold and the relationship between the relative angle between the vehicle and the sun includes: At the target time before the vehicle exits the tunnel, if the relative angle between the vehicle and the sun is less than a first angle threshold, it is a tunnel-backlight condition; if the relative angle is between the first angle threshold and a second angle threshold, it is a tunnel-sidelight condition; and if the relative angle is greater than the second angle threshold, it is a tunnel-frontlight condition.

[0010] Furthermore, at the target time, adjusting the exposure parameters of the vehicle-mounted camera according to the exposure level includes: The exposure time is determined based on the exposure level. The exposure parameters of the vehicle-mounted camera are adjusted according to the exposure time.

[0011] Secondly, an exposure control system for an in-vehicle camera is provided, comprising: The information acquisition module is used to acquire vehicle speed, vehicle location data, and navigation data; The tunnel prediction module is used to determine the time it takes for a vehicle to arrive at the tunnel entrance / exit based on the vehicle speed, vehicle positioning data, and navigation data. The calculation module is used to calculate the relative angle between the vehicle and the sun at a target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level determination module is used to determine the exposure level based on the relative angle between the vehicle and the sun; An exposure control module is used to adjust the exposure parameters of the vehicle-mounted camera according to the exposure level at the target time.

[0012] Thirdly, a vehicle is provided, including: an exposure control system for an onboard camera according to the second aspect described above.

[0013] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the exposure control method for an in-vehicle camera described in the first aspect and any possible implementation thereof.

[0014] The embodiments of this application first acquire vehicle speed, vehicle location data, and navigation data; then, based on the vehicle speed, vehicle location data, and navigation data, the time when the vehicle arrives at the tunnel entrance / exit is obtained; next, the relative angle between the vehicle and the sun at the target time is calculated, where the target time is determined based on the vehicle's tunnel entrance / exit time and a preset time advance; then, the exposure level is determined based on the relative angle between the vehicle and the sun; finally, at the target time, the exposure parameters of the vehicle-mounted camera are adjusted according to the exposure level. Therefore, based on the relative angle between the vehicle and the sun, the exposure parameters of the vehicle-mounted camera can be adjusted before the vehicle arrives at the tunnel entrance / exit, thereby avoiding overexposure or underexposure during shooting and ensuring vehicle driving safety. Attached Figure Description

[0015] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart illustrating the exposure control method for an in-vehicle camera provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the execution of the exposure control method for an in-vehicle camera provided in an embodiment of this application. Figure 3A schematic diagram illustrating a scenario for the exposure control method of an in-vehicle camera provided in an embodiment of this application; Figure 4 This is an overall architecture diagram of the exposure control method for an in-vehicle camera provided in an embodiment of this application; Figure 5 This is a structural block diagram of the exposure control system for an in-vehicle camera provided in an embodiment of this application; Figure 6 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0016] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0017] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] The following describes in detail, with reference to the accompanying drawings, an exposure control method, system, vehicle, and device for an in-vehicle camera according to embodiments of this application.

[0019] Figure 1 This is a flowchart of an exposure control method for an in-vehicle camera according to an embodiment of this application. Figure 1 As shown, and in combination Figure 2 The exposure control method for an in-vehicle camera according to an embodiment of this application includes the following steps: S101: Acquire vehicle speed, vehicle location data, and navigation data.

[0020] S102: Based on the vehicle speed, vehicle positioning data, and navigation data, obtain the time when the vehicle arrives at the tunnel entrance / exit.

[0021] In one embodiment of this application, the step of obtaining the time for the vehicle to arrive at the tunnel entrance / exit based on the vehicle speed, vehicle positioning data, and navigation data includes: obtaining the distance between the vehicle and the tunnel entrance / exit based on the vehicle positioning data and navigation data; and obtaining the time for the vehicle to arrive at the tunnel entrance / exit based on the vehicle speed and the distance between the vehicle and the tunnel entrance / exit.

[0022] S103: Calculate the relative angle between the vehicle and the sun at the target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance.

[0023] In one embodiment of this application, calculating the relative angle between the vehicle and the sun at the target time includes: obtaining the heading angle, the altitude angle and the azimuth angle of the sun at the target time; and determining the relative angle between the vehicle and the sun at the target time based on the heading angle, the altitude angle and the azimuth angle of the sun.

[0024] In a specific example, if the time lead is set to 1 second, then the relative angle between the vehicle and the sun needs to be calculated 1 second before the vehicle arrives at the tunnel entrance and exit.

[0025] S104: Determine the exposure level based on the relative angle between the vehicle and the sun.

[0026] In one embodiment of this application, determining the exposure level based on the relative angle between the vehicle and the sun includes: obtaining a preset angle threshold; and determining the exposure level based on the relationship between the preset angle threshold and the relative angle between the vehicle and the sun.

[0027] In the above example, the preset angle threshold includes a first angle threshold and a second angle threshold, and the tunnel entrance / exit includes a tunnel entrance. The step of determining the exposure level based on the preset angle threshold and the relationship between the vehicle and the sun includes: at the target time before the vehicle enters the tunnel entrance, if the relative angle between the vehicle and the sun is less than the first angle threshold, it is a backlighting-tunnel condition; if the relative angle is between the first and second angle thresholds, it is a sidelighting-tunnel condition; and if the relative angle is greater than the second angle threshold, it is a frontlighting-tunnel condition. The second angle threshold is greater than the first angle threshold, and different conditions correspond to different exposure levels.

[0028] In another example, the tunnel entrance / exit also includes a tunnel exit, wherein determining the exposure level based on the preset angle threshold and the relationship between the vehicle and the sun includes: at a target time before the vehicle exits the tunnel, if the relative angle between the vehicle and the sun is less than a first angle threshold, it is a tunnel-backlight condition; if the relative angle is between the first angle threshold and a second angle threshold, it is a tunnel-sidelight condition; and if the relative angle is greater than the second angle threshold, it is a tunnel-frontlight condition.

[0029] In the above process, the rules for adjusting the exposure parameters corresponding to different exposure levels can be set based on practical experience or experimental determination, for example: Figure 3As shown, at the target moment before the vehicle enters the tunnel entrance, the vehicle-mounted camera is about to enter the darker tunnel from the brighter outside. To achieve a smooth transition, if the backlighting-tunnel condition is met, that is, the sunlight is almost directly shining on the vehicle-mounted camera, and the contrast between light and dark inside and outside the tunnel is large, the exposure compensation should be reduced significantly. If the sidelighting-tunnel condition is met, that is, the sunlight is at an angle, the exposure compensation should be reduced moderately. If the front lighting-tunnel condition is met, the sunlight shines from behind the vehicle-mounted camera, and the contrast between light and dark inside and outside the tunnel is relatively low, the exposure compensation should be reduced slightly.

[0030] S105: At the target time, adjust the exposure parameters of the vehicle-mounted camera according to the exposure level.

[0031] In one embodiment of this application, adjusting the exposure parameters of the vehicle-mounted camera according to the exposure level at the target time includes: determining the exposure time according to the exposure level; and adjusting the exposure parameters of the vehicle-mounted camera according to the exposure time.

[0032] Specifically, based on the exposure level determined in the above process, the exposure parameters of the vehicle camera are adjusted according to the preset exposure parameter adjustment rules corresponding to the exposure level.

[0033] Figure 4 A diagram illustrating the overall architecture of the camera-based exposure control method, as shown below. Figure 4 As shown, the vehicle's GNSS module and navigation map provide positioning and navigation data, while the vehicle provides speed data. The exposure controller uses this information to predict the vehicle's arrival time at the tunnel entrance / exit, calculate the sun's position and the angle between the vehicle and the sun, thereby determining the exposure level and controlling the exposure based on the exposure level.

[0034] Based on the above method, in a specific example, assume a car is traveling at 72 km / h at 15:30 in summer. The car's navigation system indicates that it will soon pass through a 500m tunnel. Using positioning and navigation data, the system calculates that the vehicle is 1500m from the tunnel entrance and 2000m from the exit, and predicts that it will arrive at the entrance in 74 seconds and the exit in 99 seconds. The system's preset lead time is 1 second, and based on the vehicle speed, a decision needs to be made 20m before reaching the tunnel entrance and exit. Simultaneously, based on the vehicle's heading angle and the sun's position, the angle between the vehicle and the sun at the tunnel entrance is calculated to be... At the tunnel exit, the angle between the vehicle and the sun is 105°; at the tunnel exit, the angle between the vehicle and the sun is 103°, both falling between the preset first threshold of 60° and the second threshold of 120°. Therefore, the system determines that the vehicle meets the side-light-tunnel condition at the entrance and the tunnel-side-light condition at the exit. Based on the determination, the system adjusts the exposure parameters of the vehicle camera: at 20m from the entrance, the exposure compensation is slightly reduced and area metering is activated to balance the internal and external light ratio; at 20m from the exit, the shutter speed is appropriately increased and the aperture is reduced to prevent overexposure and preserve the details of the side-light environment, so that the correctly exposed image is output immediately after reaching the tunnel entrance or exit.

[0035] According to the exposure control method for a vehicle-mounted camera in this application, the following steps are taken: First, vehicle speed, vehicle positioning data, and navigation data are acquired. Then, based on the vehicle speed, vehicle positioning data, and navigation data, the arrival time of the vehicle at the tunnel entrance / exit is obtained. Next, the relative angle between the vehicle and the sun at a target time is calculated, where the target time is determined based on the vehicle's tunnel entrance / exit time and a preset time advance. Then, the exposure level is determined based on the relative angle between the vehicle and the sun. Finally, at the target time, the exposure parameters of the vehicle-mounted camera are adjusted according to the exposure level. Therefore, the exposure parameters of the vehicle-mounted camera can be adjusted before the vehicle arrives at the tunnel entrance / exit based on the relative angle between the vehicle and the sun, thereby avoiding overexposure or underexposure during shooting and ensuring vehicle driving safety.

[0036] Figure 5 This is a structural block diagram of an exposure control system for a vehicle-mounted camera according to an embodiment of this application. Figure 5 As shown, an exposure control system for a vehicle-mounted camera according to an embodiment of this application includes: an information acquisition module 510, a tunnel prediction module 520, a calculation module 530, an exposure level determination module 540, and an exposure control module 550, wherein: The information acquisition module 510 is used to acquire vehicle speed, vehicle location data, and navigation data; The tunnel prediction module 520 is used to determine the time when the vehicle arrives at the tunnel entrance and exit based on the vehicle speed, vehicle positioning data, and navigation data. The calculation module 530 is used to calculate the relative angle between the vehicle and the sun at a target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level determination module 540 is used to determine the exposure level based on the relative angle between the vehicle and the sun. The exposure control module 550 is used to adjust the exposure parameters of the vehicle-mounted camera according to the exposure level at the target time.

[0037] The exposure control system for the vehicle-mounted camera according to an embodiment of this application first acquires vehicle speed, vehicle positioning data, and navigation data; then, based on the vehicle speed, vehicle positioning data, and navigation data, it obtains the time when the vehicle arrives at the tunnel entrance / exit; next, it calculates the relative angle between the vehicle and the sun at a target time, wherein the target time is determined based on the vehicle's tunnel entrance / exit time and a preset time advance; then, it determines the exposure level based on the relative angle between the vehicle and the sun; finally, at the target time, it adjusts the exposure parameters of the vehicle-mounted camera according to the exposure level. Therefore, based on the relative angle between the vehicle and the sun, the exposure parameters of the vehicle-mounted camera can be adjusted before the vehicle arrives at the tunnel entrance / exit, thereby avoiding overexposure or underexposure during shooting and ensuring vehicle driving safety.

[0038] Specific limitations regarding the exposure control system of the vehicle-mounted camera can be found in the limitations of the exposure control method for vehicle-mounted cameras mentioned above, and will not be repeated here. Each module of the aforementioned exposure control system for the vehicle-mounted camera can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0039] Furthermore, a vehicle is provided, comprising: an exposure control system for an onboard camera according to any of the above embodiments. The vehicle first acquires vehicle speed, vehicle positioning data, and navigation data; then, based on the vehicle speed, vehicle positioning data, and navigation data, it obtains the time when the vehicle arrives at the tunnel entrance / exit; next, it calculates the relative angle between the vehicle and the sun at a target time, wherein the target time is determined based on the vehicle's tunnel entrance / exit time and a preset time advance; then, based on the relative angle between the vehicle and the sun, it determines the exposure level; finally, at the target time, it adjusts the exposure parameters of the onboard camera according to the exposure level. Thus, based on the relative angle between the vehicle and the sun, the exposure parameters of the onboard camera can be adjusted before the vehicle arrives at the tunnel entrance / exit, thereby avoiding overexposure or underexposure during shooting and ensuring vehicle driving safety.

[0040] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0041] In one embodiment, a computer device is provided. Figure 6 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 6 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned embodiment of the exposure control method for the vehicle-mounted camera. For example, it executes: acquiring vehicle speed, vehicle location data, and navigation data; Based on the vehicle speed, vehicle positioning data, and navigation data, the time it takes for the vehicle to arrive at the tunnel entrance and exit is obtained; Calculate the relative angle between the vehicle and the sun at the target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level is determined based on the relative angle between the vehicle and the sun; At the target time, the exposure parameters of the vehicle-mounted camera are adjusted according to the exposure level.

[0042] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0043] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0044] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An exposure control method for a vehicle-mounted camera, characterized in that, include: Acquire vehicle speed, vehicle location data, and navigation data; Based on the vehicle speed, vehicle positioning data, and navigation data, the time it takes for the vehicle to arrive at the tunnel entrance and exit is obtained; Calculate the relative angle between the vehicle and the sun at the target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level is determined based on the relative angle between the vehicle and the sun; At the target time, the exposure parameters of the vehicle-mounted camera are adjusted according to the exposure level.

2. The exposure control method for a vehicle-mounted camera according to claim 1, characterized in that, The step of obtaining the vehicle's arrival time at the tunnel entrance / exit based on the vehicle speed, vehicle positioning data, and navigation data includes: Based on the vehicle's positioning and navigation data, the distance between the vehicle and the tunnel entrance / exit is obtained; The time it takes for the vehicle to reach the tunnel entrance / exit is determined based on the vehicle speed and the distance between the vehicle and the tunnel entrance / exit.

3. The exposure control method for a vehicle-mounted camera according to claim 1, characterized in that, The calculation of the relative angle between the vehicle and the sun at the target time includes: Obtain the vehicle's heading angle, solar altitude angle, and azimuth angle at the target time; Based on the vehicle's heading angle, the sun's altitude angle, and azimuth angle, the relative angle between the vehicle and the sun at the target time is determined.

4. The exposure control method for a vehicle-mounted camera according to claim 1, characterized in that, The process of determining the exposure level based on the relative angle between the vehicle and the sun includes: Obtain the preset angle threshold; The exposure level is determined based on the relationship between the preset angle threshold and the relative angle between the vehicle and the sun.

5. The exposure control method for a vehicle-mounted camera according to claim 4, characterized in that, The preset angle threshold includes a first angle threshold and a second angle threshold, and the tunnel entrance / exit includes a tunnel entrance. The step of determining the exposure level based on the preset angle threshold and the relative angle between the vehicle and the sun includes: At the target time before the vehicle enters the tunnel entrance, if the relative angle between the vehicle and the sun is less than a first angle threshold, it is a backlighting-tunnel condition; if the relative angle is between the first and second angle thresholds, it is a sidelighting-tunnel condition; and if the relative angle is greater than the second angle threshold, it is a frontlighting-tunnel condition. The second angle threshold is greater than the first angle threshold, and different conditions correspond to different exposure levels.

6. The exposure control method for a vehicle-mounted camera according to claim 5, characterized in that, The tunnel entrance / exit also includes a tunnel exit, wherein determining the exposure level based on the preset angle threshold and the relationship between the vehicle and the sun includes: At the target time before the vehicle exits the tunnel, if the relative angle between the vehicle and the sun is less than a first angle threshold, it is a tunnel-backlight condition; if the relative angle is between the first angle threshold and a second angle threshold, it is a tunnel-sidelight condition; and if the relative angle is greater than the second angle threshold, it is a tunnel-frontlight condition.

7. The exposure control method for a vehicle-mounted camera according to any one of claims 1-6, characterized in that, At the target time, adjusting the exposure parameters of the vehicle-mounted camera according to the exposure level includes: The exposure time is determined based on the exposure level. The exposure parameters of the vehicle-mounted camera are adjusted according to the exposure time.

8. An exposure control system for a vehicle-mounted camera, characterized in that, include: The information acquisition module is used to acquire vehicle speed, vehicle location data, and navigation data; The tunnel prediction module is used to determine the time it takes for a vehicle to arrive at the tunnel entrance / exit based on the vehicle speed, vehicle positioning data, and navigation data. The calculation module is used to calculate the relative angle between the vehicle and the sun at a target time, wherein the target time is determined based on the time when the vehicle arrives at the tunnel entrance and exit and a preset time advance. The exposure level determination module is used to determine the exposure level based on the relative angle between the vehicle and the sun; An exposure control module is used to adjust the exposure parameters of the vehicle-mounted camera according to the exposure level at the target time.

9. A vehicle, characterized in that, include: The exposure control system for the vehicle-mounted camera according to claim 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the exposure control method for the vehicle-mounted camera according to any one of claims 1-7.

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