Vehicle polarized camera control method, vehicle, and storage medium

Abstract

The embodiment of the application provides a vehicle polarization camera control method, a vehicle and a storage medium. The method comprises the following steps: in response to the vehicle meeting a preset adjustment trigger condition, acquiring polarization image data of the vehicle, wherein the polarization image data is used to represent image frame data collected from multiple polarization directions; determining a polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there is reflected light to be filtered in the environment in which the vehicle is currently located; in response to the polarization degree parameter being greater than a preset parameter threshold, determining a target rotation angle of a polarization camera of the vehicle according to the polarization image data; and performing a rotation control operation on the polarization camera by using the target rotation angle. The application solves the technical problem of slow response, low reliability and high maintenance cost of the polarization camera control method provided in the related art due to the dependence on mechanical adjustment.

Description

Technical Field

[0001] This application relates to the field of vehicle vision sensing technology, and more specifically, to a vehicle polarization camera control method, a vehicle, and a storage medium. Background Technology

[0002] With the development of intelligent driving technology, in-vehicle vision systems are widely used in key scenarios such as electronic rearview mirrors, lane recognition, and active braking, placing high demands on image quality. However, in environments with strong reflections, such as rainy days, slippery roads at night, or glass curtain walls, specular reflections from the ground or object surfaces can severely interfere with camera imaging, leading to problems such as missed lane lines and misidentification of puddles as obstacles, threatening driving safety. In-vehicle camera systems in related technologies typically directly capture ambient light images without actively filtering reflected light. While polarizing filters can be incorporated into these systems, relying on manual adjustment or servo motor-driven mechanical polarizer rotation makes it difficult to meet the real-time and high reliability requirements of in-vehicle scenarios. Furthermore, mechanical adjustment methods are slow to respond and cannot adapt to rapidly changing driving environments; long-term use of moving parts can shorten their lifespan, leading to high maintenance costs and further impacting the accuracy and safety of intelligent driving perception.

[0003] There is currently no good solution to the above problems. Summary of the Invention

[0004] This application provides a vehicle polarization camera control method, a vehicle, and a storage medium to at least solve the technical problems of slow response, low reliability, and high maintenance cost caused by the reliance on mechanical adjustment in the polarization camera control methods provided in the related art.

[0005] According to one aspect of the embodiments of this application, a vehicle polarization camera control method is provided, comprising: in response to a vehicle meeting a preset adjustment trigger condition, acquiring polarization image data of the vehicle, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions; determining a polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there is reflected light to be filtered in the environment where the vehicle is currently located; in response to a polarization degree parameter being greater than a preset parameter threshold, determining a target rotation angle corresponding to the vehicle's polarization camera based on the polarization image data; and performing a rotation control operation on the polarization camera using the target rotation angle.

[0006] Optionally, the vehicle polarization camera control method further includes: acquiring environmental image data of the vehicle, wherein the environmental image data is used to represent real-time image frame data acquired by the vehicle; and determining that the vehicle meets a preset adjustment trigger condition in response to the area of ​​an abnormal brightness region in the environmental image data being greater than a preset area threshold.

[0007] Optionally, the vehicle polarization camera control method further includes: in response to the vehicle being in operation and the current time reaching a preset adjustment cycle, determining that the vehicle meets a preset adjustment trigger condition.

[0008] Optionally, determining the polarization degree parameter based on polarization image data includes: acquiring image light intensity data corresponding to multiple polarization directions based on polarization image data; determining polarization state quantization parameters based on the image light intensity data corresponding to multiple polarization directions, wherein the polarization state quantization parameters include: the total light intensity of the incident light beam, a first degree of linear polarization, and a second degree of linear polarization, wherein the first degree of linear polarization is used to represent the degree of linear polarization of the incident light in the directions corresponding to the first polarization angle and the second polarization angle, and the second degree of linear polarization is used to represent the degree of linear polarization of the incident light in the directions corresponding to the third polarization angle and the fourth polarization angle; and determining the polarization degree parameter based on the polarization state quantization parameters.

[0009] Optionally, in response to the polarization degree parameter being greater than a preset parameter threshold, determining the target rotation angle corresponding to the vehicle's polarization camera based on the polarization image data includes: in response to the polarization degree parameter being greater than the preset parameter threshold, determining the polarization angle parameter based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data; and determining the target rotation angle based on the polarization angle parameter.

[0010] Optionally, determining the target rotation angle based on the polarization angle parameter includes: in response to the polarization angle parameter being less than or equal to a preset angle threshold, determining the target rotation angle based on the difference between the preset angle threshold and the polarization angle parameter.

[0011] Optionally, determining the target rotation angle based on the polarization angle parameter includes: in response to the polarization angle parameter being greater than a preset angle threshold, determining the target rotation angle based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter.

[0012] Optionally, performing rotation control operation on the polarization camera using the target rotation angle includes: determining the target adjustment voltage based on the target mapping relationship and the target rotation angle, wherein the target mapping relationship is used to represent the mapping relationship between the target adjustment voltage and the target rotation angle; and performing rotation control operation on the polarization camera using the target adjustment voltage.

[0013] According to another aspect of the embodiments of this application, a vehicle polarization camera control device is also provided, comprising: an acquisition module, configured to acquire polarization image data of the vehicle in response to the vehicle meeting a preset adjustment trigger condition, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions; a first determination module, configured to determine a polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there is reflected light to be filtered in the environment where the vehicle is currently located; a second determination module, configured to determine a target rotation angle corresponding to the vehicle's polarization camera based on the polarization image data in response to the polarization degree parameter being greater than a preset parameter threshold; and a control module, configured to perform rotation control operation on the polarization camera using the target rotation angle.

[0014] Optionally, the acquisition module is also used to acquire environmental image data of the vehicle, wherein the environmental image data is used to represent the real-time image frame data acquired by the vehicle; the vehicle polarization camera control device further includes: a third determination module, used to determine that the vehicle meets the preset adjustment trigger condition in response to the area of ​​the abnormal brightness region in the environmental image data being greater than a preset area threshold.

[0015] Optionally, the third determining module is further configured to: determine that the vehicle meets the preset adjustment trigger condition in response to the vehicle being in operation and the current time reaching the preset adjustment cycle.

[0016] Optionally, the first determining module is further configured to: acquire image light intensity data corresponding to multiple polarization directions based on polarization image data; determine polarization state quantization parameters based on the image light intensity data corresponding to multiple polarization directions, wherein the polarization state quantization parameters include: the total light intensity of the incident light beam, the first degree of linear polarization and the second degree of linear polarization, the first degree of linear polarization being used to represent the degree of linear polarization of the incident light in the directions corresponding to the first polarization angle and the second polarization angle, and the second degree of linear polarization being used to represent the degree of linear polarization of the incident light in the directions corresponding to the third polarization angle and the fourth polarization angle; and determine the degree of polarization parameter based on the polarization state quantization parameters.

[0017] Optionally, the second determining module is further configured to: in response to the polarization degree parameter being greater than a preset parameter threshold, determine the polarization angle parameter based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data; and determine the target rotation angle based on the polarization angle parameter.

[0018] Optionally, the second determining module is further configured to: determine the target rotation angle based on the difference between the preset angle threshold and the polarization angle parameter in response to the polarization angle parameter being less than or equal to a preset angle threshold.

[0019] Optionally, the second determining module is further configured to: determine the target rotation angle based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter in response to the polarization angle parameter being greater than a preset angle threshold.

[0020] Optionally, the control module is also used to: determine the target adjustment voltage based on the target mapping relationship and the target rotation angle, wherein the target mapping relationship is used to represent the mapping relationship between the target adjustment voltage and the target rotation angle; and perform rotation control operation on the polarization camera using the target adjustment voltage.

[0021] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0022] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0023] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0024] According to another aspect of the embodiments of this application, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods in various embodiments of this application.

[0025] According to another aspect of the embodiments of this application, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of this application.

[0026] In this embodiment, polarization image data of the vehicle is acquired in response to the vehicle meeting a preset adjustment trigger condition. Then, a polarization degree parameter is determined based on the polarization image data. Subsequently, in response to the polarization degree parameter exceeding a preset threshold, the target rotation angle corresponding to the vehicle's polarization camera is determined based on the polarization image data. Finally, rotation control is performed on the polarization camera using the target rotation angle to achieve adaptive adjustment of the polarization camera's angle. This embodiment achieves the goal of real-time, automatic filtering of reflected light by the vehicle-mounted camera through non-mechanical polarization image analysis and adaptive rotation control. This improves the response speed and system reliability of polarization control, reduces maintenance costs, and solves the technical problems of slow response, low reliability, and high maintenance costs caused by mechanical adjustment in related technologies. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0028] Figure 1 This is a flowchart of a vehicle polarization camera control method according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the structure of an in-vehicle polarization vision imaging system according to an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the structure of a polarization camera according to an embodiment of this application;

[0031] Figure 4 This is a pin diagram of a first connector according to an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of a vehicle polarization camera control method according to an embodiment of this application;

[0033] Figure 6 This is a structural block diagram of a vehicle polarization camera control device according to an embodiment of this application. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0036] Currently, vehicle vision imaging systems generally adopt full-spectrum imaging methods without actively suppressing specular reflections in the environment (such as rainwater accumulation and glass curtain walls), resulting in glare, overexposure, or artifacts in the images. This interferes with the intelligent driving perception algorithm's recognition of key targets such as lane lines, vehicles, and pedestrians, and in severe cases, can lead to safety hazards such as lateral control failure or longitudinal mis-braking.

[0037] To address interference from reflected light, polarization filtering technology has been proposed for optical suppression in both industrial and civilian applications. The core principle is to selectively attenuate reflected light with a specific polarization state using linear polarizers. However, in current automotive applications, this technology still primarily relies on manually adjustable or servo motor-driven mechanical polarizing mirror mechanisms for angle adjustment.

[0038] The manual adjustment scheme relies on manual intervention and requires setting the polarizer angle while the vehicle is parked. This results in extremely low adjustment efficiency and an inability to adapt to instantaneous changes in lighting conditions during dynamic driving (such as entering a tunnel exit or the road surface after rain). This causes the system to fail in complex scenarios, severely limiting its practicality.

[0039] While servo motor-driven automatic adjustment solutions can achieve a certain degree of automation, their structure includes mechanical moving parts such as rotating shafts, gears, and couplings. These components experience wear, aging, and lubrication requirements over long-term operation. Furthermore, external cameras, to meet IP67 or higher protection ratings, require a fully sealed design. This makes regular maintenance of moving parts (such as adding grease and replacing seals) virtually impossible throughout the vehicle's lifespan, significantly increasing system reliability risks. In addition, the response speed of the mechanical structure is limited by motor inertia and transmission delay, typically resulting in adjustment cycles ranging from hundreds of milliseconds to several seconds. This is insufficient to match the 50-120fps frame rate requirements of modern automotive vision systems, failing to meet the real-time "millisecond-level response" requirements of intelligent driving and exhibiting a serious technological lag.

[0040] In summary, existing technical solutions have significant shortcomings in terms of response speed, environmental adaptability, system reliability, and maintenance feasibility.

[0041] According to an embodiment of this application, an embodiment of a vehicle polarization camera control method is provided. It should be noted that the steps shown in the flowchart 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 flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0042] This method embodiment can be executed in an electronic device or similar computing device that includes memory and a processor. Taking operation on a computer terminal as an example, the computer terminal may include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field-programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and memory for storing data. Optionally, the computer terminal may also include transmission devices, input / output devices, and display devices for communication functions. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the computer terminal. For example, the computer terminal may include more or fewer components than described above, or have a different configuration than described above.

[0043] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle polarization camera control method in this embodiment. The processor executes various functional applications and data processing by running the computer program stored in the memory, thereby implementing the aforementioned vehicle polarization camera control method. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0044] The transmission device is used to receive or send data via a network. Specific examples of the network mentioned above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0045] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0046] This embodiment provides a method for controlling a vehicle polarization camera. Figure 1 This is a flowchart of a vehicle polarization camera control method according to an embodiment of this application, such as... Figure 1 As shown, the process includes the following steps:

[0047] Step S11: In response to the vehicle meeting the preset adjustment trigger condition, acquire the polarization image data of the vehicle, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions;

[0048] Step S12: Determine the polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there are reflected rays to be filtered in the current environment of the vehicle.

[0049] Step S13: In response to the polarization degree parameter being greater than a preset parameter threshold, determine the target rotation angle corresponding to the polarization camera of the vehicle based on the polarization image data.

[0050] Step S14: Perform rotation control operation on the polarization camera using the target rotation angle.

[0051] The aforementioned preset adjustment trigger conditions are the criteria for determining whether to initiate the polarization image adjustment process during vehicle operation, based on predefined environmental perception rules or state parameters. These preset adjustment trigger conditions may include, but are not limited to: vehicle speed exceeding a preset threshold, ambient light intensity change rate exceeding a set range, a large area of ​​overexposed light in the current image frame, or a recurrence of an upward trend in polarization parameters after the previous cycle was below a threshold. These preset adjustment trigger conditions constitute the active triggering mechanism of this application embodiment. They can avoid continuous computation and control in stable scenarios without reflected light interference, thereby reducing computational load, extending system lifespan, and ensuring that adjustment behavior only occurs when necessary, thus improving resource utilization efficiency.

[0052] The aforementioned polarization image data consists of multiple frames of images sequentially acquired by a polarization camera at various preset polarization angles. Each frame records the intensity distribution information of incident light under a specific polarization direction, used to characterize the spatial distribution features of polarization components in ambient light. For example, the polarization camera captures four frames at four polarization directions: 0°, 45°, 90°, and 135°, forming a set of polarization image data. The polarization image data includes the grayscale values ​​of each pixel at different polarization angles. The differences in grayscale values ​​can reflect the intensity contrast between specularly reflected light and diffusely reflected light, providing raw input for subsequent polarization characteristic analysis.

[0053] The polarization camera integrates a liquid crystal polarization rotator, which, driven by a control signal, sequentially adjusts its polarization transmission axis angle, switching to multiple preset polarization directions. After each polarization angle stabilizes, the imaging element captures one frame of image under the same exposure parameters, completing data acquisition for one polarization direction. Multiple acquisition processes are completed within a very short time, such as within 20ms, thus forming a set of four frames of polarization image data. During data acquisition, the rotation timing of the liquid crystal polarization rotator and the exposure timing of the imaging element can be synchronously coordinated to ensure that each frame is acquired under the same ambient lighting conditions, avoiding errors introduced by time differences.

[0054] By analyzing the differences in light intensity across multiple frames acquired from different polarization directions, the intensity of polarized light components in the environment can be comprehensively assessed. Each frame of a polarized image reflects the brightness distribution of light after passing through a polarizing element at a specific polarization angle. When specular reflection exists in the environment, the brightness of images at different polarization angles will show a significant contrast; for example, the image in one direction may be too bright while the image in the perpendicular direction may be significantly darker. By comparing the magnitude and regularity of brightness differences, the polarization ratio of reflected light in the overall incident light can be inferred, i.e., the degree of polarization parameter. A higher degree of polarization parameter value indicates more significant non-natural scattered light in the environment, especially directional reflection light generated by smooth surfaces such as water and glass, thus allowing for accurate identification of reflection interference sources that need to be filtered.

[0055] When the polarization degree parameter exceeds a preset threshold, it can be determined that the current imaging environment is interfered with by strong specular reflection light. Diffuse reflection light in the natural environment usually has low polarization characteristics, and its polarization degree parameter is generally in the low value range. Light reflected by specular structures such as water accumulation, slippery road surfaces, metal car bodies, or glass curtain walls has a highly consistent polarization direction and a strong polarization degree, the value of which is significantly higher than that of natural light. Therefore, by setting a reasonable preset threshold, it is possible to reliably distinguish between real road information and false reflection images, thereby accurately triggering the subsequent polarization correction mechanism and realizing intelligent identification and active suppression of interfering reflection light.

[0056] When the polarization degree parameter exceeds a preset threshold, such as 0.5, it indicates significant specular reflection interference in the current environment, necessitating the initiation of the polarization correction process. At this point, based on the acquired polarization image data, the polarization direction characteristics of the reflected light are further analyzed to determine the target rotation angle corresponding to the vehicle's polarization camera. This target rotation angle is the polarization axis adjustment angle calculated from the polarization image data and applied to the liquid crystal polarization rotator to effectively filter out strong reflected light interference in the current environment.

[0057] The target rotation angle can be determined by analyzing the light intensity distribution of four sets of images with different polarization directions to deduce the main polarization direction of the reflected light, and then performing geometric compensation calculations. The target rotation angle can make the transmission axis of the liquid crystal polarization rotator perpendicular to the polarization direction of the reflected light, thus providing a preset condition for the filtering effect of the subsequent fixed polarization mirror.

[0058] For example, during the rotation control operation, the visual image controller can apply a calibrated voltage value to the liquid crystal polarization rotator according to the target rotation angle, triggering the directional rearrangement of liquid crystal molecules under the action of an electric field. This achieves mechanical-free, instantaneous angle adjustment of the polarization transmission axis. The adjustment process does not rely on any servo motor or transmission mechanism, but is completed solely through electro-optic effects. Therefore, this embodiment of the application can perform precise, fast, and low-power electrically controlled polarization angle correction on the liquid crystal polarization rotator inside the polarization camera, thereby achieving dynamic suppression of specular reflection light without changing the optical structure, significantly improving the response speed and system reliability of polarization control.

[0059] Based on steps S11 to S14 above, polarization image data of the vehicle is acquired in response to the vehicle meeting a preset adjustment trigger condition. Then, a polarization degree parameter is determined based on the polarization image data. Subsequently, in response to the polarization degree parameter exceeding a preset threshold, the target rotation angle corresponding to the vehicle's polarization camera is determined based on the polarization image data. Finally, rotation control is performed on the polarization camera using the target rotation angle to achieve adaptive adjustment of the polarization camera's angle. This embodiment achieves the goal of real-time, automatic filtering of reflected light by the vehicle-mounted camera through non-mechanical polarization image analysis and adaptive rotation control. This improves the response speed and system reliability of polarization control, reduces maintenance costs, and solves the technical problems of slow response, low reliability, and high maintenance costs caused by mechanical adjustment in related technologies for polarization camera control.

[0060] The vehicle polarization camera control method in the embodiments of this application will be further described below.

[0061] In one optional embodiment, the vehicle polarization camera control method further includes: acquiring environmental image data of the vehicle, wherein the environmental image data is used to represent real-time image frame data acquired by the vehicle; and determining that the vehicle meets a preset adjustment trigger condition in response to the area of ​​an abnormal brightness region in the environmental image data being greater than a preset area threshold.

[0062] The aforementioned environmental image data consists of raw image frames collected and output in real time by the imaging components of the polarization camera during vehicle operation. Its content is the distribution of ambient light intensity outside the vehicle in the form of a pixel matrix, including the brightness information of objects such as road surfaces, buildings, water films, and glass under natural or ambient light. It is used to reflect the visual input state of the current scene. This data is the raw image without polarization processing and is the basic input for subsequent image analysis and trigger judgment.

[0063] An abnormal brightness region is a localized area in environmental image data where the pixel brightness value is significantly higher than that of its neighboring background area and is spatially continuous. The formation of an abnormal brightness region is due to the concentrated incidence of specular reflected light, such as the specular reflection of the sky or car headlights by water on the road after rain, or the strong reflection of sunlight by a glass curtain wall on the roadside. Its light intensity abrupt change characteristics are different from the uniform overexposure caused by ordinary diffuse reflection. It has clear spatial clustering and edge sharpness, and is a key visual feature for judging whether there is harmful reflection interference.

[0064] The preset area threshold is a pixel area quantification standard set during the system calibration phase based on statistical distribution data of reflected light coverage in typical driving scenarios. Its value is determined through analysis of a large number of actual image samples and is used to distinguish between real reflection interference and local sensor noise, direct light source or temporary light spots. Only when the pixel area of ​​the abnormal brightness area exceeds the preset area threshold can it be determined that the reflected light has a substantial impact on the sensing system. The introduction of the preset area threshold realizes the quantitative filtering of interference intensity and avoids false triggering caused by occasional overexposure.

[0065] For example, the vision image controller can perform image processing algorithms on the current environmental image data, first identifying and segmenting all areas of abnormal brightness, then calculating the total number of pixels occupied by these areas and comparing it with a preset area threshold. When the total pixel area exceeds the preset area threshold, it is determined that the vehicle meets the preset adjustment trigger condition.

[0066] Based on the above optional embodiments, by acquiring environmental image data and responding to the fact that the area of ​​the abnormal brightness region is greater than a preset area threshold, it is determined that the vehicle meets the preset adjustment triggering conditions. This achieves the preliminary identification and effective triggering of reflection interference solely through the brightness spatial characteristics of environmental image data without relying on polarization analysis or increasing the computational burden. This significantly improves the system's response efficiency in low-power, high-real-time scenarios, reduces invalid polarization adjustment cycles, and enhances the energy efficiency and stability of the vehicle vision system in complex lighting environments.

[0067] In an optional embodiment, the vehicle polarization camera control method further includes: in response to the vehicle being in operation and the current time reaching a preset adjustment cycle, determining that the vehicle meets a preset adjustment trigger condition.

[0068] The vehicle is in operation state, which means that the on-board power system has been powered, the power system has entered the working mode, the vehicle speed signal is non-zero, or the on-board electronic control unit determines that the vehicle is in motion. This state is confirmed through the vehicle controller area network (CAN) bus or by directly collecting ignition signals, gear signals, and wheel speed signals to ensure that the polarization adjustment mechanism is only activated when the vehicle is moving, so as to avoid consuming electrical energy when the vehicle is parked or turned off.

[0069] The aforementioned preset adjustment cycle is a fixed time interval set during the system calibration phase, in seconds, such as 30 seconds. It is used to periodically trigger the polarization adjustment process, and its value is determined based on the frequency of reflected light changes in typical road environments and the system response delay. This ensures that the polarization state is periodically checked without relying on environmental image analysis, preventing the cumulative effect of polarization axis offset caused by temperature drift, voltage drift, or prolonged static placement of the liquid crystal polarization rotator on image quality.

[0070] For example, the vision image controller can continuously monitor the vehicle's operating status and the system clock. When it detects that the vehicle is in operation and the difference between the current time and the last adjustment time reaches a preset adjustment cycle, the controller outputs an adjustment trigger signal.

[0071] Based on the above optional embodiments, by responding to the vehicle being in operation and the current time reaching the preset adjustment cycle, it is determined that the vehicle meets the preset adjustment trigger conditions, thus realizing the timing adjustment function of actively verifying the polarization state at fixed time intervals without relying on the perception of changes in ambient light. This effectively compensates for the optical property drift of the liquid crystal material caused by temperature and usage time, improves the stability and consistency of the system's suppression of reflected light during long-term continuous operation, and avoids the problem of polarization performance degradation caused by static environment not being detected in time.

[0072] In an optional embodiment, step S12, determining the polarization degree parameter based on the polarization image data, includes:

[0073] Step S121: Obtain image light intensity data corresponding to multiple polarization directions based on polarization image data;

[0074] Step S122: Determine the polarization state quantization parameters based on the image light intensity data corresponding to multiple polarization directions. The polarization state quantization parameters include: the total light intensity of the incident light beam, the first degree of linear polarization, and the second degree of linear polarization. The first degree of linear polarization is used to represent the degree of linear polarization of the incident light in the direction corresponding to the first polarization angle and the second polarization angle, and the second degree of linear polarization is used to represent the degree of linear polarization of the incident light in the direction corresponding to the third polarization angle and the fourth polarization angle.

[0075] Step S123: Determine the degree of polarization parameter based on the polarization state quantization parameter.

[0076] For example, after triggering the polarization adjustment process, the visual image controller sequentially controls the liquid crystal polarization rotator to precisely rotate to the first polarization angle (0°), the second polarization angle (45°), the third polarization angle (90°), and the fourth polarization angle (135°). At each angle, a frame of polarization image data output by the imaging device is acquired. The average pixel brightness value corresponding to each frame is the image light intensity data in that polarization direction, i.e., I0, I... 45 I 90 I 135 This allows for the sampling of the light intensity of the incident light in four orthogonal polarization directions, providing the raw data basis for subsequent polarization characteristic quantification.

[0077] The visual image controller calculates the total light intensity, first degree of linear polarization, and second degree of linear polarization of the incident light beam using the Stokes vector formula, based on the image light intensity data in four polarization directions. The total light intensity can be calculated by summing the light intensities corresponding to 0° and 90°. The first degree of linear polarization is determined by the difference in light intensity corresponding to the first and second polarization angles, and is used to characterize the linear polarization tendency in the 0° and 90° directions. The second degree of linear polarization is determined by the difference in light intensity corresponding to the third and fourth polarization angles, and is used to characterize the linear polarization tendency in the 45° and 135° directions.

[0078] The polarization state quantization parameters mentioned above are Stokes parameters (S0, S1, S2). The calculation formula is as follows:

[0079] =

[0080] Where S0 is the total light intensity of the measured beam. S1 is the degree of linear polarization of the incident light in the 0° and 90° directions, i.e., the first degree of linear polarization. If S1 > 0, it means the incident light is more biased towards the 0° direction; if S1 < 0, it means the incident light is more biased towards the 90° direction; if S1 ≈ 0, it means there is no significant bias in the 0° and 90° directions, and the incident light may be unpolarized or polarized in the 45° and 135° directions. Similarly, S2 is the degree of linear polarization of the incident light in the 45° and 135° directions, i.e., the second degree of linear polarization. If S2 > 0, it means the incident light is more biased towards the 45° direction; if S2 < 0, it means the incident light is more biased towards the 135° direction; if S2 ≈ 0, it means there is no significant bias in the 45° and 135° directions.

[0081] Furthermore, the polarization degree parameter DoLP is determined based on the polarization state quantization parameters, and the calculation formula is as follows:

[0082]

[0083] If the polarization degree parameter DoLP is greater than or equal to the preset parameter threshold (typically 0.5), it can be pre-calibrated, indicating that there is strong reflected light in the current environment.

[0084] Based on the above optional embodiments, by acquiring image light intensity data corresponding to multiple polarization directions, and then determining polarization state quantization parameters based on the image light intensity data corresponding to multiple polarization directions, and finally determining polarization degree parameters based on polarization state quantization parameters, it is possible to complete multi-dimensional quantitative analysis of the polarization state of incident light using only the electronically controlled rotation capability and image processing algorithm of a single polarization camera without adding any hardware sensors. This significantly reduces system complexity and cost, while improving the accuracy and response speed of polarization interference identification, and providing a quantifiable decision basis for subsequent precise voltage control.

[0085] In an optional embodiment, in step S13, in response to the polarization degree parameter being greater than a preset parameter threshold, determining the target rotation angle corresponding to the vehicle's polarization camera based on the polarization image data includes:

[0086] Step S131: In response to the polarization degree parameter being greater than a preset parameter threshold, the polarization angle parameter is determined based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data.

[0087] Step S132: Determine the target rotation angle based on the polarization angle parameter.

[0088] After confirming that the polarization degree parameter exceeds the calibrated threshold value, the visual image controller determines that there is a significant specular reflection component in the current incident light and then initiates the polarization angle calculation process. Based on the acquired first linear polarization degree S1 and second linear polarization degree S2, the polarization angle parameter AoLP is calculated using the following formula:

[0089]

[0090] The polarization angle parameter characterizes the orientation of the main polarization direction of the reflected light relative to the horizontal reference axis with an angle value, achieving accurate calculation of the polarization direction of the reflected light without the need for additional optical components or external sensors.

[0091] The visual image controller can perform angle mapping based on the calculated polarization angle parameter and a preset compensation logic. For example, when the polarization angle parameter is less than or equal to 90°, the target rotation angle is equal to 90° minus the polarization angle parameter. When the polarization angle parameter is greater than 90°, the target rotation angle is equal to 180° minus the polarization angle parameter.

[0092] Based on the above optional embodiments, by responding to the polarization degree parameter being greater than a preset parameter threshold, the polarization angle parameter is determined based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data, and then the target rotation angle is determined according to the polarization angle parameter. This achieves closed-loop angle orientation control without mechanical feedback based on the polarization state quantization parameter after confirming the existence of reflection interference. This significantly improves the accuracy and response speed of polarization adjustment, avoids filter failure or over-adjustment caused by angle misjudgment, and ensures efficient and stable suppression of reflected light under complex lighting conditions.

[0093] In an optional embodiment, in step S132, determining the target rotation angle based on the polarization angle parameter includes: in response to the polarization angle parameter being less than or equal to a preset angle threshold, determining the target rotation angle based on the difference between the preset angle threshold and the polarization angle parameter.

[0094] The aforementioned preset angle threshold can be a reference angle value set during the system calibration stage. Its value can be 90°, which is used as a reference for compensation of the polarization direction of reflected light.

[0095] After the visual image controller completes the calculation of the polarization angle parameter, it performs a conditional judgment on the calculation result. When the value of the polarization angle parameter does not exceed 90°, the target rotation angle M is determined according to the following calculation method:

[0096]

[0097] In an optional embodiment, in step S132, determining the target rotation angle based on the polarization angle parameter includes: in response to the polarization angle parameter being greater than a preset angle threshold, determining the target rotation angle based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter.

[0098] The preset multiple of the aforementioned preset angle threshold can be 180°. After the visual image controller completes the calculation of the polarization angle parameter, it performs a conditional judgment on the calculation result. When the value of the polarization angle parameter exceeds 90°, the target rotation angle M is determined according to the following calculation method:

[0099]

[0100] Based on the above optional embodiments, by responding to the polarization angle parameter being less than or equal to a preset angle threshold, the target rotation angle is determined based on the difference between the preset angle threshold and the polarization angle parameter. By responding to the polarization angle parameter being greater than the preset angle threshold, the target rotation angle is determined based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter. This achieves piecewise linear compensation for the polarization angle parameter in the full range from 0° to 180°, ensuring that regardless of the polarization direction of the reflected light, a unique and accurate target rotation angle can be generated through simple algebraic operations. This significantly improves the response consistency, control accuracy, and algorithm robustness of polarization adjustment, and avoids filter failure or excessive rotation caused by unknown polarization direction.

[0101] In an optional embodiment, step S14, performing rotation control operation on the polarization camera using the target rotation angle includes:

[0102] Step S141: Determine the target adjustment voltage based on the target mapping relationship and the target rotation angle, wherein the target mapping relationship is used to represent the mapping relationship between the target adjustment voltage and the target rotation angle;

[0103] Step S142: Perform rotation control operation on the polarization camera using the target adjustment voltage.

[0104] The aforementioned target mapping relationship, established during system calibration, is a function or data table characterizing the correspondence between the target adjustment voltage and the target rotation angle of the liquid crystal polarization rotator. Specifically, it can be obtained by applying different voltage values ​​and measuring the actual output polarization angle of the liquid crystal polarization rotator. Its data points cover the entire range from 0° to 180°, and the voltage and angle exhibit an approximately linear relationship. This target mapping relationship provides a deterministic input basis for feedback-free closed-loop control, directly mapping the physical rotation angle into a precisely supplied electrical control signal, eliminating the delay, wear, and sealing risks associated with mechanical transmission mechanisms.

[0105] After receiving the target rotation angle, the vision image controller extracts the corresponding target adjustment voltage value from the pre-stored target mapping relationship through table lookup interpolation or linear calculation, thus realizing the deterministic conversion from the angle target to the electrical command.

[0106] Furthermore, by applying a target adjustment voltage to the liquid crystal polarization rotator of the polarization camera, the target adjustment voltage acts on the molecular arrangement structure of the liquid crystal layer, causing its optical axis to rotate physically, thereby achieving precise control of the polarization direction of the incident light and ensuring the reliability and stability of long-term operation under a sealed structure.

[0107] Based on the above optional embodiments, the target adjustment voltage is determined based on the target mapping relationship and the target rotation angle. The target mapping relationship is used to represent the mapping relationship between the target adjustment voltage and the target rotation angle. Then, the target adjustment voltage is used to perform rotation control operation on the polarization camera, realizing a whole-chain mechanical-free closed-loop control from polarization state perception to electronic angle adjustment, which significantly improves the response speed, control accuracy and system reliability of polarization adjustment.

[0108] Figure 2 This is a schematic diagram of the structure of an in-vehicle polarization vision imaging system according to an embodiment of this application, such as... Figure 2 As shown, the vehicle-mounted polarization vision imaging system comprises a polarization camera, a vision imaging controller, a first power supply harness, a second power supply harness, a first video harness, a second video harness, and a control algorithm integrated into the system. The vehicle-mounted vision imaging system controller adjusts the polarization angle of the liquid crystal polarization rotator in the vehicle-mounted polarization camera and controls the temperature of the first lens via the first power supply harness. The system receives low-voltage power from the vehicle via the second power supply harness. The vehicle-mounted polarization camera transmits video signals to the vehicle-mounted vision imaging controller via the first video harness. The software module integrated in the controller analyzes and judges the video signals, thereby driving the liquid crystal polarization rotator in the camera to automatically rotate to the appropriate angle. The controller transmits the video signal to other electronic control units (ECUs) in the vehicle via the second video harness.

[0109] The vehicle-mounted polarization vision imaging system proposed in this application achieves dynamic, real-time, and adaptive filtering of ambient reflected light through a liquid crystal polarization rotator without mechanical movement and a closed-loop control based on a Stokes parameter-based intelligent algorithm. Its application scenarios broadly cover all vision systems in intelligent vehicles that rely on external imaging, and it is particularly suitable for complex driving environments with high reflectivity, high dynamics, and high safety requirements. Specific application scenarios include, but are not limited to: intelligent driving vision perception systems, electronic exterior rearview mirror (e-Mirror) systems, reversing camera and panoramic imaging systems, driving recorders and event recording systems, autonomous ride-hailing / unmanned delivery vehicle scenarios, and special environment vehicle applications.

[0110] For example, in wet and slippery road conditions such as rain, snow, or nighttime, road puddles can create strong specular reflections, causing critical information such as lane lines, traffic signs, and curbs to be obscured by reflections or misidentified as "white obstacles." The vehicle-mounted polarized vision imaging system in this application embodiment can automatically identify reflected light and adjust the polarization angle in real time, filtering out water reflection interference within milliseconds. This significantly improves the perception accuracy of core functions such as lane keeping automatic emergency braking and traffic sign recognition, avoiding longitudinal or lateral control failures caused by image misjudgment.

[0111] Traditional rearview mirrors are easily affected by headlights from vehicles behind, glass curtain walls, and reflections from water surfaces, causing visual glare. Electronic exterior rearview mirrors, as a legally recognized alternative, require extremely high image clarity and anti-interference capabilities. The vehicle-mounted polarized vision imaging system in this embodiment can be integrated into the left and right exterior rearview mirror cameras, automatically suppressing polarized reflected light from slippery road surfaces, improving the visibility of the side and rear views at night or in rainy weather, and effectively reducing driver visual fatigue and the risk of misjudgment.

[0112] When reversing, water on the ground, reflections from garage floor tiles, metal fences, etc., can all create artifacts in the image, interfering with the judgment of the parking trajectory and even mistakenly triggering automatic braking. The vehicle-mounted polarized vision imaging system in this application embodiment can automatically activate the polarization adjustment process when starting to reverse, eliminating the recognition of "false obstacles" caused by ground reflections, improving parking safety and system availability, and is especially suitable for high-reflectivity scenarios such as underground garages and rainy parking lots.

[0113] High-end dashcams need to maintain clear and traceable images even under extreme lighting conditions, such as reflections on water surfaces at sunrise / sunset. The vehicle-mounted polarized vision imaging system in this embodiment can be integrated into the dashcam camera as an optional module, significantly improving image contrast and detail retention, ensuring complete and reliable image information during accident evidence collection, and meeting insurance claim requirements.

[0114] In autonomous driving scenarios, intelligent driving systems need to have the ability to operate around the clock without human intervention. The vehicle-mounted polarization vision imaging system in this application embodiment, through its purely electric control, no moving parts, low power consumption, and high reliability design, meets the requirements of autonomous vehicles for maintenance-free, long-life, and highly robust sensors. It can serve as a core vision pre-processing module, forming multimodal redundancy with LiDAR and millimeter-wave radar, thereby improving the system's environmental perception reliability in adverse weather conditions.

[0115] The vehicle-mounted polarization vision imaging system in this application embodiment can also be extended to commercial vehicles, engineering vehicles or special vehicles in high-altitude, high-humidity and high-salt-fog areas (such as coastal cities and plateau rainy seasons), effectively suppressing complex optical noise such as glass curtain wall reflection, seawater splash reflection, and water droplet polarization interference in fog, ensuring the stability of visual sensing under special working conditions.

[0116] Figure 3 This is a schematic diagram of the structure of a polarization camera according to an embodiment of this application, as shown below. Figure 3 As shown, the polarization camera includes: a liquid crystal polarization rotator, a first lens, a second lens, a third lens imaging element, a sealing structure, a first connector, and a second connector.

[0117] The liquid crystal polarization rotator can accept a power supply voltage from the first connector and can precisely adjust the polarization angle of the incident light within the range of 0° to 180° as the voltage value changes. The voltage value and the polarization angle of the liquid crystal polarization rotator can be obtained through calibration. Table 1 shows one calibration mapping parameter. It should be noted that only typical parameters are listed in Table 1, and the actual implementation can be obtained by linear interpolation of the typical parameters.

[0118] Table 1 Target Mapping Relationship

[0119]

[0120] As shown in Table 1, the nonlinear-to-approximate linear mapping relationship between the driving voltage of the liquid crystal polarization rotator and its output polarization rotation angle was obtained through experimental calibration. This calibration data can be obtained by measuring the polarization state in the camera imaging path point by point using a high-precision polarization analyzer under standard light source conditions, and recording the rotation angle of the incident light polarization plane caused by the orientation of liquid crystal molecules under different DC driving voltages.

[0121] Table 1 shows that within a driving voltage range of 10V to 14V, the liquid crystal polarization rotator can achieve continuous and stable polarization angle adjustment from 0° to 180°, with adjacent voltage steps corresponding to a 45° change in polarization angle, exhibiting a highly linear relationship. This facilitates the control algorithm's precise control of any intermediate angle through linear interpolation. For example, when the system calculates a target polarization angle of 67.5°, the controller can set the driving voltage to 11.5V based on this mapping table to achieve accurate adjustment of the polarization direction.

[0122] The first lens is a heated lens. When the ambient temperature is below a certain level (e.g., -5℃), the system can heat the liquid crystal polarization rotator through the first lens. This eliminates frost on the lens surface and prevents the liquid crystal particles in the liquid crystal polarization rotator from rotating slowly or becoming polarized due to low temperature, thus avoiding the risk of interfering with imaging.

[0123] The second lens is a polarizing filter with a fixed angle of 0°, which can filter polarized light at other angles.

[0124] The third lens is a camera lens. The polarization angle of the incident light is rotated by the liquid crystal polarization rotator, and then the reflected light in the incident light is filtered by the second lens. Finally, after being imaged by the third lens, it is projected onto the imaging device, converted into an electrical signal by the imaging device, and transmitted to the vehicle vision image controller for routine function processing through the second connector and the first video harness. This enables the acquisition of a clear image after removing reflection interference.

[0125] The first connector and the second connector at the tail of the polarization camera are connected to the first power supply harness and the first video harness, respectively. The first connector can receive voltage from the first power supply harness and, upon receiving the corresponding voltage value, precisely adjust the polarization angle of the liquid crystal polarization rotator or heat the first lens. The first connector may have four or more pins to simultaneously drive the rotation angle of the liquid crystal polarization rotator and heat the first lens. The pin definitions of the first connector are shown in Table 2 below.

[0126] Table 2 Pin Definitions of the First Connector

[0127]

[0128] Figure 4 This is a pin diagram of a first connector according to an embodiment of this application, as shown below. Figure 4 As shown, the first pin is an electrical input terminal that provides a positive driving voltage to the liquid crystal polarization rotator. It can be connected to the positive voltage output line in the first power supply harness to apply the positive potential required to control the orientation of liquid crystal molecules, thereby achieving a precise increase in the polarization angle.

[0129] The second pin is an electrical input terminal that provides a negative driving voltage or a reference ground potential to the liquid crystal polarization rotator. It can be connected to the negative terminal or ground line in the first power supply harness. Together with the first pin, it forms a complete DC driving circuit, enabling the liquid crystal polarization rotator to achieve stable and controllable polarization direction rotation within the range of 0° to 180°.

[0130] The third pin is an electrical input terminal that provides positive heating current to the first lens. It is connected to the heating power output line in the first power supply harness and is used to supply power to the heating film or resistive element in the first lens to increase the surface temperature of the lens in a low-temperature environment, prevent frost formation, and ensure that the operating temperature of the liquid crystal polarization rotator is within the normal operating range.

[0131] The fourth pin is an electrical input terminal that provides negative heating current or reference ground potential to the first lens. It is connected to the negative terminal of the heating circuit or the grounding line in the first power supply harness. Together with the third pin, it forms an independent heating current circuit, ensuring that the heating function of the first lens and the polarization adjustment function of the liquid crystal polarization rotator are electrically independent and can be executed in parallel.

[0132] The above four pin definitions together constitute the electrical functional partitions of the first connector, which respectively realize the polarization angle control of the liquid crystal polarization rotator and the temperature control of the first lens, enabling the polarization camera to complete dual electrical control functions under a single physical interface, improving the system integration and reliability, and providing a structural basis for realizing multi-channel independent control under a sealed structure.

[0133] The second connector can be a standard two-pin connector or a coaxial connector. The first video cable harness can be a standard wire or a coaxial cable harness. The combination of the second connector and the first video cable harness can transmit various video signals, including Analog High Definition (AHD), Low Voltage Differential Signaling (LVDS), and Composite Video Baseband Signal (CVBS).

[0134] The rotation angle and triggering timing of the liquid crystal polarization rotator are automatically identified by the software algorithm module integrated in the vehicle vision imaging system controller.

[0135] Figure 5 This is a schematic diagram of a vehicle polarization camera control method according to an embodiment of this application, as shown below. Figure 5 As shown, in the vehicle-mounted vision imaging system controller, a timer T is obtained, followed by the acquisition of environmental image data of the vehicle. This environmental image data is then inspected. If the area of ​​an abnormal brightness region in the environmental image data exceeds a preset area threshold (i.e., a large overexposed area is detected), the vehicle is determined to meet the preset adjustment trigger condition. If the area of ​​an abnormal brightness region in the environmental image data is less than the preset area threshold (i.e., no large overexposed area is detected), it is determined whether the timer T is greater than or equal to the set threshold. When the vehicle is in operation and the timer T reaches the preset adjustment cycle, the vehicle is determined to meet the preset adjustment trigger condition.

[0136] After the vehicle meets the preset adjustment trigger conditions, polarization image data of the vehicle is acquired. This polarization image data represents image frame data acquired from multiple polarization directions. Based on the polarization image data, image light intensity data corresponding to multiple polarization directions is acquired, and polarization state quantization parameters are determined according to this data. The polarization state quantization parameters include: the total light intensity of the incident light beam, the first degree of linear polarization, and the second degree of linear polarization. The first degree of linear polarization represents the degree of linear polarization of the incident light in the directions corresponding to the first and second polarization angles, and the second degree of linear polarization represents the degree of linear polarization of the incident light in the directions corresponding to the third and fourth polarization angles. Subsequently, a polarization degree parameter is determined based on the polarization state quantization parameters. If the polarization degree parameter is greater than a preset threshold, a polarization angle parameter is determined based on the first and second degrees of linear polarization corresponding to the polarization image data. The target rotation angle is then determined based on the polarization angle parameter. A target adjustment voltage is determined based on the target mapping relationship and the target rotation angle. The target mapping relationship represents the mapping relationship between the target adjustment voltage and the target rotation angle. Finally, the target adjustment voltage is used to perform rotation control operations on the polarization camera.

[0137] Based on the embodiments of this application, polarization image data of the vehicle is acquired in response to the vehicle meeting a preset adjustment trigger condition. Then, a polarization degree parameter is determined based on the polarization image data. Subsequently, in response to the polarization degree parameter exceeding a preset threshold, the target rotation angle corresponding to the vehicle's polarization camera is determined based on the polarization image data. Finally, rotation control is performed on the polarization camera using the target rotation angle, achieving adaptive adjustment of the polarization camera's angle. This embodiment of the application achieves the goal of real-time, automatic filtering of reflected light by the vehicle-mounted camera through non-mechanical polarization image analysis and adaptive rotation control. This results in improved response speed and system reliability of polarization control, and reduced maintenance costs. Furthermore, it solves the technical problems of slow response, low reliability, and high maintenance costs caused by mechanical adjustment in related technologies for polarization camera control.

[0138] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0139] According to an embodiment of this application, an apparatus embodiment for a vehicle polarization camera control method is provided. It should be noted that the apparatus can be used to execute the above-described vehicle polarization camera control method.

[0140] Figure 6 This is a structural block diagram of a vehicle polarization camera control device according to an embodiment of this application, such as... Figure 6 As shown, the device includes:

[0141] The acquisition module 601 is used to acquire polarization image data of the vehicle in response to the vehicle meeting a preset adjustment trigger condition, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions; the first determination module 602 is used to determine a polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there is reflected light to be filtered in the current environment of the vehicle; the second determination module 603 is used to determine the target rotation angle corresponding to the polarization camera of the vehicle based on the polarization image data in response to the polarization degree parameter being greater than a preset parameter threshold; and the control module 604 is used to perform rotation control operation on the polarization camera using the target rotation angle.

[0142] Optionally, the acquisition module 601 is further configured to acquire environmental image data of the vehicle, wherein the environmental image data is used to represent real-time image frame data acquired by the vehicle; the vehicle polarization camera control device further includes: a third determination module 604, configured to determine that the vehicle meets the preset adjustment trigger condition in response to the area of ​​the abnormal brightness region in the environmental image data being greater than a preset area threshold.

[0143] Optionally, the third determining module 604 is further configured to: determine that the vehicle meets the preset adjustment trigger condition in response to the vehicle being in operation and the current time reaching the preset adjustment cycle.

[0144] Optionally, the first determining module 602 is further configured to: acquire image light intensity data corresponding to multiple polarization directions based on polarization image data; determine polarization state quantization parameters based on the image light intensity data corresponding to multiple polarization directions, wherein the polarization state quantization parameters include: the total light intensity of the incident light beam, the first degree of linear polarization and the second degree of linear polarization, the first degree of linear polarization being used to represent the degree of linear polarization of the incident light in the direction corresponding to the first polarization angle and the second polarization angle, and the second degree of linear polarization being used to represent the degree of linear polarization of the incident light in the direction corresponding to the third polarization angle and the fourth polarization angle; and determine the degree of polarization parameter based on the polarization state quantization parameters.

[0145] Optionally, the second determining module 603 is further configured to: determine the polarization angle parameter based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data in response to the polarization degree parameter being greater than a preset parameter threshold; and determine the target rotation angle based on the polarization angle parameter.

[0146] Optionally, the second determining module 603 is further configured to: determine the target rotation angle based on the difference between the preset angle threshold and the polarization angle parameter in response to the polarization angle parameter being less than or equal to a preset angle threshold.

[0147] Optionally, the second determining module 603 is further configured to: determine the target rotation angle based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter in response to the polarization angle parameter being greater than a preset angle threshold.

[0148] Optionally, the control module 604 is further configured to: determine the target adjustment voltage based on the target mapping relationship and the target rotation angle, wherein the target mapping relationship is used to represent the mapping relationship between the target adjustment voltage and the target rotation angle; and perform rotation control operation on the polarization camera using the target adjustment voltage.

[0149] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0150] Based on the embodiments of this application, polarization image data of the vehicle is acquired in response to the vehicle meeting a preset adjustment trigger condition. Then, a polarization degree parameter is determined based on the polarization image data. Subsequently, in response to the polarization degree parameter exceeding a preset threshold, the target rotation angle corresponding to the vehicle's polarization camera is determined based on the polarization image data. Finally, rotation control is performed on the polarization camera using the target rotation angle, achieving adaptive adjustment of the polarization camera's angle. This embodiment of the application achieves the goal of real-time, automatic filtering of reflected light by the vehicle-mounted camera through non-mechanical polarization image analysis and adaptive rotation control. This results in improved response speed and system reliability of polarization control, and reduced maintenance costs. Furthermore, it solves the technical problems of slow response, low reliability, and high maintenance costs caused by mechanical adjustment in related technologies for polarization camera control.

[0151] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods described in various embodiments of this application when it runs.

[0152] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0153] Step S11: In response to the vehicle meeting the preset adjustment trigger condition, acquire the polarization image data of the vehicle, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions;

[0154] Step S12: Determine the polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there are reflected rays to be filtered in the current environment of the vehicle.

[0155] Step S13: In response to the polarization degree parameter being greater than a preset parameter threshold, determine the target rotation angle corresponding to the polarization camera of the vehicle based on the polarization image data.

[0156] Step S14: Perform rotation control operation on the polarization camera using the target rotation angle.

[0157] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0158] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0159] Step S11: In response to the vehicle meeting the preset adjustment trigger condition, acquire the polarization image data of the vehicle, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions;

[0160] Step S12: Determine the polarization degree parameter based on the polarization image data, wherein the polarization degree parameter is used to determine whether there are reflected rays to be filtered in the current environment of the vehicle.

[0161] Step S13: In response to the polarization degree parameter being greater than a preset parameter threshold, determine the target rotation angle corresponding to the polarization camera of the vehicle based on the polarization image data.

[0162] Step S14: Perform rotation control operation on the polarization camera using the target rotation angle.

[0163] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0164] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of this application.

[0165] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of this application.

[0166] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0167] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0168] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0169] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0170] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0171] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling a vehicle polarization camera, characterized in that, include: In response to the vehicle meeting a preset adjustment trigger condition, polarization image data of the vehicle is acquired, wherein the polarization image data is used to represent image frame data acquired from multiple polarization directions; The polarization degree parameter is determined based on the polarization image data, wherein the polarization degree parameter is used to determine whether there is reflected light to be filtered in the current environment of the vehicle; In response to the polarization degree parameter being greater than a preset parameter threshold, the target rotation angle corresponding to the polarization camera of the vehicle is determined based on the polarization image data; The polarization camera is rotated using the target rotation angle.

2. The vehicle polarization camera control method according to claim 1, characterized in that, The vehicle polarization camera control method further includes: Acquire environmental image data of the vehicle, wherein the environmental image data is used to represent real-time image frame data acquired by the vehicle; In response to the fact that the area of ​​the abnormal brightness region in the environmental image data is greater than a preset area threshold, it is determined that the vehicle meets the preset adjustment trigger condition.

3. The vehicle polarization camera control method according to claim 1, characterized in that, The vehicle polarization camera control method further includes: In response to the vehicle being in operation and the current time reaching a preset adjustment cycle, it is determined that the vehicle meets the preset adjustment trigger condition.

4. The vehicle polarization camera control method according to claim 1, characterized in that, Determining the polarization degree parameter based on the polarization image data includes: Based on the polarization image data, obtain the image light intensity data corresponding to the multiple polarization directions; Polarization state quantization parameters are determined based on the image light intensity data corresponding to the multiple polarization directions. The polarization state quantization parameters include: the total light intensity of the incident light beam, the first degree of linear polarization, and the second degree of linear polarization. The first degree of linear polarization is used to represent the degree of linear polarization of the incident light in the direction corresponding to the first polarization angle and the second polarization angle. The second degree of linear polarization is used to represent the degree of linear polarization of the incident light in the direction corresponding to the third polarization angle and the fourth polarization angle. The polarization degree parameter is determined based on the polarization state quantization parameter.

5. The vehicle polarization camera control method according to claim 4, characterized in that, In response to the polarization degree parameter being greater than a preset parameter threshold, determining the target rotation angle corresponding to the vehicle's polarization camera based on the polarization image data includes: In response to the polarization degree parameter being greater than a preset parameter threshold, the polarization angle parameter is determined based on the first linear polarization degree and the second linear polarization degree corresponding to the polarization image data; The target rotation angle is determined based on the polarization angle parameter.

6. The vehicle polarization camera control method according to claim 5, characterized in that, Determining the target rotation angle based on the polarization angle parameter includes: In response to the polarization angle parameter being less than or equal to a preset angle threshold, the target rotation angle is determined based on the difference between the preset angle threshold and the polarization angle parameter.

7. The vehicle polarization camera control method according to claim 5, characterized in that, Determining the target rotation angle based on the polarization angle parameter includes: In response to the polarization angle parameter being greater than a preset angle threshold, the target rotation angle is determined based on the difference between a preset multiple of the preset angle threshold and the polarization angle parameter.

8. The vehicle polarization camera control method according to any one of claims 1 to 7, characterized in that, Performing rotation control operations on the polarization camera using the target rotation angle includes: The target regulating voltage is determined based on the target mapping relationship and the target rotation angle, wherein the target mapping relationship is used to represent the mapping relationship between the target regulating voltage and the target rotation angle; The polarization camera is rotated using the target adjustment voltage.

9. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 8.

Images