Imaging method, imaging apparatus and related product

Abstract

An imaging method, an imaging apparatus and a related product, which relate to the technical field of imaging. The imaging method comprises: converting into a first electrical signal a first light beam received by a first photosensitive unit, wherein the first light beam may be an unfiltered light beam from an object space, and the first light beam possibly comprises a large number of interference light beams; on the basis of the first electrical signal, determining a first filtering parameter, such that the first filtering parameter can be used for filtering the interference light beams in the first light beam; and further receiving, by means of the first photosensitive unit, a second light beam obtained after a first filtering unit performs filtering by using the first filtering parameter, such that the second light beam does not comprise interference light beams or comprises a few interference light beams, thereby improving the sensing performance of an imaging apparatus.

Description

Imaging method, imaging apparatus, and related products

[0001] This application claims priority to the Chinese patent application No. 202411119862.6, filed on August 13, 2024, entitled “Imaging method, imaging apparatus, and related products”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of imaging, and in particular, to an imaging method, an imaging apparatus, and related products. BACKGROUND

[0003] An image sensor is a device that converts optical signals into electrical signals, which is widely used in cameras and other electronic optical devices. The image sensor includes a photoconductive camera tube and a solid-state image sensor. The solid-state image sensor has the characteristics of small volume, light weight, and high resolution, and has been widely used in various fields.

[0004] However, in some specific scenarios, the sensing performance of the above-mentioned image sensor is weak, and cannot meet the sensing requirements in the scenario. For example, in the scenario of driving at night, the high beam of the oncoming vehicle will produce strong glare, which will exceed the dynamic range of the camera of intelligent driving, and is easy to produce background blind area, thereby affecting driving safety. For another example, in the scenario of automatic parking in a garage, the strong reflection of the ground will interfere with the normal imaging of the vehicle-mounted camera, causing problems in visual geometry calculation, thereby causing parking failure.

[0005] Therefore, there is an urgent need for a sensing scheme to improve the sensing performance in various scenarios. SUMMARY

[0006] The present application provides an imaging method, an imaging apparatus, and related products. The imaging method provided by the present application can determine appropriate filtering parameters according to the light beams that have been received by the photosensitive unit in the current scenario, can reduce the interference light beams in the light beams received by the photosensitive unit in the current scenario, and thereby improve the sensing performance in various scenarios.

[0007] In a first aspect, the present application provides an imaging method, comprising: converting a received first light beam into a first electrical signal, and then controlling a first filtering unit to filter with a first filtering parameter based on the first electrical signal; and receiving a second light beam filtered by the first filtering unit with the first filtering parameter.

[0008] In the present application, the first light beam can be a light beam from the object space without filtering. In some scenarios, a large amount of interference light beams can be included in the first light beam, so that the image generated based on the first light beam has more interference information, which can reduce the imaging accuracy of the imaging device. Since a large amount of interference light beams can be included in the first light beam, the type, characteristics and receiving position of the interference light beams in the first light beam can be identified based on the first electrical signal, so as to generate the first filtering parameter. Therefore, the second light beam filtered by the first filtering unit with the first filtering parameter does not include interference light beams or includes less interference light beams, so that the image generated based on the second light beam does not include interference information or includes less interference information, thereby improving the imaging accuracy and further improving the perception performance of the imaging device. It can be understood that in different perception scenarios, the type, characteristics or receiving position of the interference light beams included in the first light beam are usually different, and the imaging method provided by the present application determines the first filtering parameter through the first electrical signal corresponding to the first light beam. Therefore, the imaging method provided by the present application can determine the appropriate first filtering parameter in different scenarios to improve the perception performance of the imaging device in the current scenario. In summary, the imaging method provided by the present application controls the first filtering unit to filter with the first filtering parameter based on the first electrical signal, which can match the filtering requirements in various scenarios, thereby reducing the interference light beams in the received light beam and further improving the perception performance of the imaging device in various scenarios.

[0009] Optionally, the first light beam can be a light beam corresponding to one pixel, and can also be a light beam corresponding to multiple pixels.

[0010] Optionally, the second light beam is used for imaging.

[0011] In a possible implementation, the imaging method provided by the present application is applied to an imaging device, and the imaging device includes a first light sensing unit, a processing unit and a first filtering unit. The imaging method includes: receiving a first light beam by the first light sensing unit, and converting the first light beam into a first electrical signal; controlling the first filtering unit to filter with a first filtering parameter based on the first electrical signal by the processing unit; and receiving a second light beam filtered by the first filtering unit with the first filtering parameter by the first light sensing unit.

[0012] Optionally, the imaging device further includes an imaging unit, and the imaging method further includes imaging based on the second light beam by the imaging unit.

[0013] In another possible implementation, a second filtering parameter is generated based on the second light beam and the first filtering parameter, and the second filtering parameter is different from the first filtering parameter.

[0014] It can be understood that the environment is dynamically changing, the type, characteristics or receiving position of the interference light beam are complex and changeable, and therefore, as the environment changes, the second light beam obtained based on the first filtering parameter can include the interference light beam, in which case, the second filtering parameter is generated (or the first filtering parameter is updated) based on the second light beam and the first filtering parameter, the interference light beam can be effectively filtered out in a timely manner, and therefore, the perception performance of the imaging device is improved.

[0015] In another possible implementation, the first filtering parameter is determined based on the first electrical signal.

[0016] It can be known from the above description that the first light-receiving unit receives the first light beam and the second light beam, and the second light beam is filtered by the first filtering unit with the first filtering parameter, wherein the first filtering parameter is determined based on the first electrical signal corresponding to the first light beam, so that the filtering mode of the light beam received by the first light-receiving unit can be adaptively adjusted based on the last received light beam of the first light-receiving unit, thereby reducing the interference light beam received by the first light-receiving unit, and further improving the perception performance of the imaging device.

[0017] In another possible implementation, the above filtering by the processing unit based on the first electrical signal and controlling the first filtering unit to filter with the first filtering parameter includes: determining, by the processing unit, the light intensity and / or the polarization state of the first light beam based on the first electrical signal, determining, by the processing unit, the first filtering parameter based on the light intensity and / or the polarization state of the first light beam, and controlling, by the processing unit, the first filtering unit to filter with the first filtering parameter.

[0018] In the above implementation, the light intensity and / or the polarization state of the first light beam is determined by the processing unit based on the first electrical signal, so that whether the first light beam is an interference light beam can be accurately determined. For example, if the light intensity of the first light beam is greater than a certain threshold, the first light beam can be considered as an interference light beam. For another example, if the first light beam is polarized light, the first light beam can be considered as an interference light beam. The first filtering parameter is determined by the processing unit based on the light intensity and / or the polarization state of the first light beam, so that the determined first filtering parameter can effectively filter the interference light beam. For example, if the light intensity of the first light beam is greater than a certain threshold, it can be determined that the first filtering parameter includes intensity filtering, so that the light intensity of the second light beam received by the first light-receiving unit is less than the threshold. For another example, if the first light beam is polarized light, it can be determined that the first filtering parameter includes polarization filtering, so that the second light beam received by the first light-receiving unit is not polarized light. In summary, the first filtering parameter determined by the processing unit based on the light intensity and / or the polarization state of the first light beam can be used to effectively filter out the interference light beam received by the first light-receiving unit, thereby improving the perception performance of the imaging device.

[0019] In another possible implementation, the first filtering parameter includes a first filtering manner and a filtering attribute corresponding to the first filtering manner. In a case where the first filtering manner includes polarization filtering, the filtering attribute corresponding to the first filtering manner includes a polarization direction corresponding to the polarization filtering and / or, in a case where the first filtering manner includes intensity filtering, the filtering attribute corresponding to the first filtering manner includes a degree of attenuation of light intensity by the intensity filtering.

[0020] In the above implementations, the first filtering manner includes polarization filtering and / or intensity filtering, so that the first filtering unit can not only perform polarization filtering or intensity filtering on the light beam, but also perform polarization filtering and intensity filtering on the light beam simultaneously, to better filter various interference light beams. In addition, the first filtering parameter further includes a filtering attribute corresponding to the first filtering manner. For example, in a case where the first filtering manner includes polarization filtering, the filtering attribute corresponding to the first filtering manner can include a polarization direction corresponding to the polarization filtering, for example, the polarization direction corresponding to the polarization filtering is a horizontal direction or a vertical direction, etc. Alternatively, the filtering attribute corresponding to the first filtering manner can further include a degree of attenuation of light intensity by the polarization filtering in the polarization direction, for example, the degree of attenuation of light intensity by the polarization filtering in the polarization direction is 50%. For another example, in a case where the first filtering manner includes intensity filtering, the filtering attribute corresponding to the first filtering manner includes a degree of attenuation of light intensity by the intensity filtering. It can be understood that the intensity filtering is used to attenuate the light intensity of the light beam as a whole. It can be known from the above description that the first filtering parameter includes the first filtering manner and the filtering attribute corresponding to the first filtering manner, so that filtering the light beam based on the first filtering parameter can achieve rich filtering functions to adapt to filtering requirements in various scenarios, thereby improving the perception performance of the imaging device.

[0021] In another possible implementation, in a case where the light intensity of the first light beam is greater than a first threshold, the first filtering manner includes intensity filtering, and / or, in a case where the first light beam includes polarized light of a first direction, the first filtering manner includes polarization filtering, and a polarization direction corresponding to the polarization filtering is the first direction.

[0022] In the above embodiments, the first threshold value can refer to that, in a case that the light intensity of the light beam is greater than the first threshold value, the imaging corresponding to the light beam is usually an interference image. Therefore, in a case that the light intensity of the first light beam is greater than the first threshold value, the first filtering manner including intensity filtering can make the light intensity of the second light beam satisfy the condition, so as to avoid the imaging corresponding to the second light beam being an interference image, thereby improving the perception performance of the imaging device. It can be understood that the polarized light in the natural environment is usually formed through reflection, refraction or scattering, and thus the polarized light is usually an interference light beam. In a case that the first light beam includes polarized light of the first direction, the first filtering manner including polarization filtering can effectively filter out the polarized light beam, thereby improving the perception performance of the imaging device.

[0023] Optionally, the first threshold value can be preset, and can also be dynamically adjusted according to the perceived content, which is not limited in the present application.

[0024] In another possible implementation, the imaging device further includes a first photosensitive unit array and a first filter unit array, the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filter unit is a filter unit in the first filter unit array. The receiving, by the first photosensitive unit, the first light beam and converting the first light beam into a first electrical signal includes: receiving, by the first photosensitive unit array, a first light beam set and converting the first light beam set into a first electrical signal set, the first light beam set including the first light beam, and the first electrical signal set including the first electrical signal. The controlling, by the processing unit, the first filter unit to filter with a first filtering parameter based on the first electrical signal includes: controlling, by the processing unit, the first filter unit array to filter with a first filtering parameter set based on the first electrical signal set, the first filtering parameter set including the first filtering parameter.

[0025] In the above embodiments, the imaging device includes a first photosensitive unit array and a first filter unit array, the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filter unit is a filter unit in the first filter unit array. It can be known from the above description that the first photosensitive unit can receive the light beam filtered by the first filter unit with the first filtering parameter. It can be seen that the filtering parameter can be independently set for each filter unit in the first filter unit array, and correspondingly, the light beam received by each photosensitive unit in the first photosensitive unit array can be independently filtered. Different filtering parameters can be set for the light beam received by different positions in the first photosensitive unit array, that is, the effect of regional filtering can be achieved. On the one hand, different types of interference light beams can be effectively filtered, and on the other hand, the filtering can reduce the interference to the received normal light beam, thereby improving the perception performance of the imaging device as much as possible.

[0026] In another possible implementation, the first filter parameter set is determined by the processing unit based on the first set of electrical signals, including: determining, by the processing unit based on the first set of electrical signals, that the first set of light beams includes an interfering light beam. The first filter parameter set is determined by the processing unit based on the interfering light beam. The first filter parameter set is controlled by the processing unit to filter the first filter unit array.

[0027] In the above implementation, the first set of light beams includes an interfering light beam is determined by the processing unit based on the first set of electrical signals. For example, by analyzing each electrical signal in the first set of electrical signals, the light intensity and / or the polarization state of the light beam corresponding to the electrical signal can be determined, so that the first set of light beams includes an interfering light beam. For another example, by analyzing the first set of electrical signals as a whole, it can be determined that the first set of light beams includes an interfering light beam. It can be understood that the first set of light beams is composed of light beams received by a plurality of first light sensing units, and the light beam received by the first light sensing unit can be referred to as a light beam in the first set of light beams. In the case where the interfering light beam in the first set of light beams is determined, the first filter parameter set is further determined based on the interfering light beam, so that the light beam filtered by the first filter parameter set has fewer interfering light beams and can be used for accurate imaging, thereby improving the perception performance of the imaging device.

[0028] In another possible implementation, the first set of light beams includes an interfering light beam is determined by the processing unit based on the first set of electrical signals, including: in the case where the processing unit determines, based on the first set of electrical signals, that the first set of light beams includes a light beam with a light intensity greater than a first threshold, the first set of light beams includes an interfering light beam, and the interfering light beam is the light beam in the first set of light beams with the light intensity greater than the first threshold; and / or in the case where the processing unit determines, based on the first set of electrical signals, that the average light intensity of the first set of light beams is greater than a second threshold, the first set of light beams includes an interfering light beam; and / or in the case where the processing unit determines, based on the first set of electrical signals, that the first set of light beams includes polarized light, the first set of light beams includes an interfering light beam, and the interfering light beam is the polarized light in the first set of light beams.

[0029] In the above implementation, three ways for determining that the first set of light beams includes an interfering light beam are shown, for example, way one, the first set of light beams includes a light beam with a light intensity greater than a first threshold; way two, the average light intensity of the first set of light beams is greater than a second threshold; and way three, the first set of light beams includes polarized light. In the case where the first set of light beams includes a light beam with a light intensity greater than a first threshold, the light beam in the first set of light beams with the light intensity greater than the first threshold is the interfering light beam. In the case where the first set of light beams includes polarized light, the polarized light in the first set of light beams is the interfering light beam. By determining that the first set of light beams includes an interfering light beam through the above three ways, a suitable first filter parameter set can be generated, thereby improving the perception performance of the imaging device.

[0030] In another possible implementation, the processing unit determines the first set of filtering parameters based on the interference light beams, including: determining, by the processing unit, a first region of the first array of photosensitive units based on the interference light beams, the first region being a region of the first array of photosensitive units for receiving the interference light beams; and determining, by the processing unit, the first set of filtering parameters based on the first region, the first set of filtering parameters being used for filtering the light beams before being received by the first region.

[0031] In the above implementation, the first region of the first array of photosensitive units is determined based on the interference light beams, and the first region is a region for receiving the interference light beams. It should be noted that the first region can be a continuous region, or can include multiple non-continuous regions, which is not limited in the present application. The first set of filtering parameters is determined based on the first region, so that when the first filter array filters the light beams with the first set of filtering parameters, the light beams received by the first array of photosensitive units in the first region can be filtered, thereby reducing or filtering out the light beams received by the first array of photosensitive units in the first region, and further improving the sensing performance of the imaging device.

[0032] In another possible implementation, the interference light beams include the first light beams, and the first photosensitive unit is in the first region.

[0033] In the above implementation, the interference light beams include the first light beams, and the first electrical signal corresponding to the first light beam is used to determine the first filtering parameter. How to determine the first filtering parameter based on the first electrical signal can be referred to the above description. Therefore, determining the interference light beams in the first set of light beams based on the first set of electrical signals can be determining whether each light beam in the first set of light beams belongs to the interference light beams based on each electrical signal in the first set of electrical signals.

[0034] In another possible implementation, the first region includes a second region and a third region, the second region and the third region are mutually exclusive, the first photosensitive unit is in the second region, and the second photosensitive unit is in the third region. The first set of filtering parameters further includes a second filtering parameter, the second filtering parameter is used for filtering the light beams before being received by the second photosensitive unit, and the second filtering parameter is different from the first filtering parameter.

[0035] In the above embodiment, the second region and the third region do not overlap with each other, which can be understood as that the second region and the third region include different photosensitive units, or one photosensitive unit belongs to the second region or the third region. The first photosensitive unit is located in the second region, the second photosensitive unit is located in the third region, and the first filtering parameter for filtering the light beam before the first photosensitive unit receives the light beam is different from the second filtering parameter for filtering the light beam before the second photosensitive unit receives the light beam. In other words, the above embodiment can filter the light beam before different photosensitive units in the first photosensitive unit array with different filtering parameters, so that the normal light beam is not affected while the interference light beam is filtered, thereby improving the sensing performance of the imaging device.

[0036] In another possible implementation, the second light beam filtered by the first filtering unit with the first filtering parameter through the first photosensitive unit includes: a second light beam set filtered by a first filtering unit array with a first filtering parameter set through the first photosensitive unit array, and the second light beam set includes the second light beam.

[0037] In the above embodiment, the second light beam set filtered by the first filtering unit array with the first filtering parameter set through the first photosensitive unit array can ensure that the second light beam set does not include the interference light beam, thereby improving the sensing performance of the imaging device.

[0038] Optionally, the second light beam set is used for imaging.

[0039] In a second aspect, the present application provides an imaging device, which includes: a first photosensitive unit, a processing unit, and a first filtering unit. The first photosensitive unit is configured to receive a first light beam and convert the first light beam into a first electrical signal. The processing unit is configured to control the first filtering unit to filter a second light beam with a first filtering parameter based on the first electrical signal. The first photosensitive unit is configured to receive the second light beam filtered by the first filtering unit with the first filtering parameter.

[0040] In the present application, the imaging device includes the first photosensitive unit, the processing unit, and the first filtering unit. The first photosensitive unit is configured to convert the first light beam into the first electrical signal. The processing unit is configured to control the first filtering unit to filter the second light beam with the first filtering parameter based on the first electrical signal. The first photosensitive unit is further configured to receive the second light beam filtered by the first filtering unit with the first filtering parameter. It can be seen that the first photosensitive unit, the processing unit, and the first filtering unit form a closed loop in the imaging device, so that the filtering parameter used by the first filtering unit can be adjusted according to the light beam received by the first photosensitive unit, and the light beam before the first photosensitive unit receives the light beam is filtered in time, thereby improving the sensing performance of the imaging device.

[0041] Optionally, the above first light beam can be a light beam corresponding to one pixel, or a light beam corresponding to multiple pixels.

[0042] Optionally, the imaging device further comprises an imaging unit, the imaging unit configured to perform imaging based on the second light beam.

[0043] In a possible implementation, the first filter parameter is determined by the processing unit based on the first electrical signal.

[0044] In another possible implementation, the processing unit is specifically configured to determine the light intensity and / or the polarization state of the first light beam based on the first electrical signal. The processing unit is specifically configured to determine the first filter parameter based on the light intensity and / or the polarization state of the first light beam. The processing unit is specifically configured to control the first filter unit to perform filtering with the first filter parameter.

[0045] In another possible implementation, the first filter parameter comprises a first filter mode and a filter attribute corresponding to the first filter mode. In a case where the first filter mode comprises a polarization filter, the filter attribute corresponding to the first filter mode comprises a polarization direction corresponding to the polarization filter and a degree of attenuation of the light intensity by the polarization filter in the polarization direction. And / or, in a case where the first filter mode comprises an intensity filter, the filter attribute corresponding to the first filter mode comprises a degree of attenuation of the light intensity by the intensity filter.

[0046] In another possible implementation, in a case where the light intensity of the first light beam is greater than a first threshold, the first filter mode comprises an intensity filter. And / or, in a case where the first light beam comprises polarized light of a first direction, the first filter mode comprises a polarization filter, and the polarization direction corresponding to the polarization filter is the first direction.

[0047] In another possible implementation, the imaging device comprises a first array of light sensing units and a first array of filter units. The first light sensing unit is a light sensing unit in the first array of light sensing units, and the first filter unit is a filter unit in the first array of filter units. The first array of light sensing units is configured to receive a first set of light beams and convert the first set of light beams into a first set of electrical signals. The first set of light beams comprises the first light beam, and the first set of electrical signals comprises the first electrical signal. The processing unit is specifically configured to control the first array of filter units to perform filtering with a first set of filter parameters based on the first set of electrical signals. The first set of filter parameters comprises the first filter parameter.

[0048] In another possible implementation, the processing unit is specifically configured to determine, based on the first set of electrical signals, that the first set of light beams comprises an interference light beam. The processing unit is specifically configured to determine the first set of filter parameters based on the interference light beam. The processing unit is specifically configured to control the first array of filter units to perform filtering with the first set of filter parameters.

[0049] In another possible implementation, the first light beam set includes the interfering light beam in a case where the first light beam set includes a light beam with light intensity greater than the first threshold value, and / or the first light beam set includes the interfering light beam in a case where the average light intensity of the first light beam set is greater than the second threshold value, and / or the first light beam set includes the interfering light beam in a case where the first light beam set includes polarized light.

[0050] In another possible implementation, the processing unit is configured to determine, based on the interfering light beam, a first region of the first array of light sensing units, the first region being a region of the first array of light sensing units for receiving the interfering light beam, and determine, based on the first region, a first set of filtering parameters for filtering light beams before being received by the first region.

[0051] In another possible implementation, the interfering light beam includes a first light beam, and the first light sensing unit is in the first region.

[0052] In another possible implementation, the first set of filtering parameters further includes a second filtering parameter, the first array of filtering units further includes a second filtering unit, the first array of light sensing units further includes a second light sensing unit, the second light sensing unit is configured to receive light beams filtered by the second filtering unit with the second filtering parameter, and the first filtering parameter is different from the second filtering parameter.

[0053] In another possible implementation, the first filtering unit includes a first filtering layer, the first filtering layer is configured to filter light beams with a third filtering parameter, the third filtering parameter includes a first filtering manner and a first filtering attribute corresponding to the first filtering manner, the first filtering attribute is adjustable, and the first filtering parameter includes the third filtering parameter.

[0054] In the above implementation, the first filtering unit includes a first filtering layer, the first filtering layer is configured to filter light beams with a third filtering parameter, the third filtering parameter includes a first filtering manner and a first filtering attribute corresponding to the first filtering manner, and the first filtering attribute is adjustable, so that the first filtering unit can filter light beams with different filtering attributes to meet filtering requirements in various scenarios, thereby improving the sensing performance of the imaging device in various scenarios.

[0055] In another possible implementation, the first filtering manner is polarization filtering, and the first filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction, or the first filtering manner is intensity filtering, and the first filtering attribute is used to indicate a degree of light intensity attenuation of the intensity filtering. The polarization filtering is used to attenuate light intensity of a light beam in a polarization direction, and the intensity filtering is used to attenuate light intensity of a light beam.

[0056] In the above embodiments, the first filtering manner is polarization filtering or intensity filtering. When the first filtering manner is polarization filtering, the first filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction, so that the first filtering unit can be used to filter polarized light in each direction and the degree of attenuation is adjustable. When the first filtering manner is intensity filtering, the first filtering attribute is used to indicate a degree of light intensity attenuation of the intensity filtering, so that the first filtering unit can adjust the light intensity of the light beam received by the first light receiving unit to a suitable intensity.

[0057] In another possible implementation, the first filtering unit further includes a second filtering layer, and the second filtering layer is used to filter the light beam with fourth filtering parameters, the fourth filtering parameters including a second filtering manner and a second filtering attribute corresponding to the second filtering manner, and the second filtering attribute is adjustable. The first filtering manner is different from the second filtering manner, and / or the first filtering attribute is different from the second filtering attribute. The first filtering parameters include the fourth filtering parameters.

[0058] In the above embodiments, the first filtering unit includes not only the first filtering layer but also a second filtering layer. Moreover, the filtering parameters used by the first filtering layer and the second filtering layer are different, including that the first filtering manner is different from the second filtering manner, and / or the first filtering attribute is different from the second filtering attribute. For example, the first filtering manner is polarization filtering and the second filtering manner is intensity filtering. For another example, the first filtering manner and the second filtering manner are both polarization filtering, and the polarization directions indicated by the first filtering attribute and the second filtering attribute are different. For another example, the first filtering manner and the second filtering manner are both intensity filtering, and the degrees of light intensity attenuation indicated by the first filtering attribute and the second filtering attribute are different. In summary, the first filtering layer and the second filtering layer are used to implement different filtering functions, which also enables the first filtering unit to implement more abundant filtering functions, so as to better adapt to the filtering requirements of various scenes, thereby reducing the interference light beams received by the light receiving unit and further improving the perception performance of the imaging device.

[0059] In another possible implementation, the second filtering manner is polarization filtering, and the second filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction, or the second filtering manner is intensity filtering, and the second filtering attribute is used to indicate a degree of light intensity attenuation of the intensity filtering. The polarization filtering is used to attenuate the light intensity of the light beam in the polarization direction, and the intensity filtering is used to attenuate the light intensity of the light beam.

[0060] In the above embodiment, the second filtering manner is polarization filtering or intensity filtering. When the second filtering manner is polarization filtering, the second filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction, so that the second filtering unit can be used to filter polarized light in each direction and the degree of attenuation is adjustable. When the second filtering manner is intensity filtering, the second filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering, so that the second filtering unit can adjust the light intensity of the light beam received by the second light receiving unit to a suitable intensity.

[0061] In another possible implementation, the first filtering unit further includes a third filtering layer, the third filtering layer is used to filter the light beam with a fifth filtering parameter, the fifth filtering parameter includes a third filtering manner and a third filtering attribute corresponding to the third filtering manner, the third filtering attribute is adjustable, and the first filtering parameter includes the fifth filtering parameter. The first filtering manner and the third filtering manner are both polarization filtering, the polarization direction corresponding to the first filtering manner is different from the polarization direction corresponding to the third filtering manner, and the second filtering manner is intensity filtering. The polarization filtering is used to attenuate the light intensity of the light beam in the polarization direction corresponding to the polarization filtering, and the intensity filtering is used to attenuate the light intensity of the light beam.

[0062] In the above embodiment, the first filtering unit includes a third filtering layer in addition to the first filtering layer and the second filtering layer. The first filtering manner and the third filtering manner are both polarization filtering, the polarization direction corresponding to the first filtering manner is different from the polarization direction corresponding to the third filtering manner, and the second filtering manner is intensity filtering. Therefore, the first filtering unit can simultaneously realize polarization filtering and intensity filtering, and can also realize filtering of polarized light in different directions. Thus, the first filtering unit can meet the filtering requirements in various scenes, thereby improving the perception performance of the imaging device in various scenes.

[0063] In another possible implementation, the first filtering manner and the third filtering manner are both polarization filtering, and the polarization direction corresponding to the first filtering manner is orthogonal to the polarization direction corresponding to the third filtering manner.

[0064] In the above embodiment, it can be understood that any light beam can be divided into polarized light that is orthogonal to each other. Therefore, the polarization direction corresponding to the first filtering manner is orthogonal to the polarization direction corresponding to the third filtering manner, so that the first filtering unit can realize filtering of various light beams, thereby meeting the filtering requirements in various scenes, and further improving the perception performance of the imaging device in various scenes.

[0065] It can be understood that the above first filtering unit belongs to a first filtering unit array, and each filtering unit in the first filtering unit array has the function of the above first filtering unit.

[0066] In another possible implementation, the imaging device further includes a lens combination, and the first filter unit and the lens combination are both disposed on the light-receiving side of the first light-receiving unit. The first filter unit is disposed between the first light-receiving unit and the lens combination, or the lens combination is disposed between the first light-receiving unit and the first filter unit, or the first filter unit is disposed inside the lens combination.

[0067] In the above implementation, the imaging device further includes a lens combination, and the first filter unit and the lens combination are both disposed on the light-receiving side of the first light-receiving unit. Since the first filter unit belongs to the first filter unit array and the first light-receiving unit belongs to the first light-receiving unit array, the first filter unit array and the lens combination are both disposed on the light-receiving side of the first light-receiving unit array. In addition, the first filter unit and the lens combination are not limited in position, for example, the first filter unit is disposed between the first light-receiving unit and the lens combination, or the lens combination is disposed between the first light-receiving unit and the first filter unit, or the first filter unit is disposed inside the lens combination. Similarly, the first filter unit array and the lens combination are not limited in position, for example, the first filter unit array is disposed between the first light-receiving unit array and the lens combination, or the lens combination is disposed between the first light-receiving unit array and the first filter unit array, or the first filter unit array is disposed inside the lens combination.

[0068] In another possible implementation, the first filter unit includes one or more of guest-host effect liquid crystal GHLC, metasurface, and one or more selected from suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device, or electrochromic device. Correspondingly, the first filter unit array also includes one or more of guest-host effect liquid crystal GHLC, metasurface, and one or more selected from suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device, or electrochromic device.

[0069] The beneficial effects of the above-mentioned embodiments of the second aspect can refer to the description of the corresponding content of the first aspect, which will not be described here.

[0070] In a third aspect, the present application further provides an imaging device, which includes a transmitting system and a receiving system, and is configured to implement the imaging method of the first aspect.

[0071] In a possible implementation, the transmitting system is configured to transmit the first probe light beam or the second probe light beam, and the receiving system is configured to receive the first return light beam or the second return light beam. For example, the first return light beam is the first light beam, and the second return light beam is the second light beam.

[0072] Optionally, the imaging device further comprises a processing unit configured to process the first return light beam or the second return light beam. For example, the processing unit is configured to process the first return light beam for controlling a filtering unit in the receiving system to filter with a first filtering parameter. The processing unit is configured to process the second return light beam for imaging.

[0073] Optionally, the processing unit is further configured to control the receiving system to adjust the filtering parameter of the filtering unit in the receiving system in real time.

[0074] The beneficial effects of the third aspect and any possible implementation form thereof can be referred to the corresponding description of the first aspect or the second aspect, which will not be repeated here.

[0075] In a fourth aspect, the present application provides a camera comprising the imaging device of any one of the second aspect.

[0076] In a fifth aspect, the present application provides a lidar comprising the transmitting system and / or the receiving system of any one of the third aspect.

[0077] In a sixth aspect, the present application provides a terminal comprising the imaging device of any one of the second aspect, or comprising the imaging device of any one of the third aspect, or comprising the camera of any one of the fourth aspect, or comprising the lidar of any one of the fifth aspect. Optionally, the terminal comprises a smart terminal or a vehicle, such as a vehicle, a robot, a drone, or a ship.

[0078] In a seventh aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a computer, the method of any one of the first aspect is implemented.

[0079] In an eighth aspect, the present application provides a computer program product comprising instructions, and when the computer program code is executed on a computer, the method of any one of the first aspect is implemented.

[0080] The solutions provided by the fourth aspect to the eighth aspect are used to implement or cooperate to implement the method provided by the corresponding first aspect, and thus can achieve the same or corresponding beneficial effects as the corresponding method of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0081] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0082] FIG. 1 is a schematic diagram of a night driving scene according to an embodiment of the present application;

[0083] FIG. 2 is a schematic diagram of a parking scene according to an embodiment of the present application;

[0084] FIG. 3 is a schematic diagram of an application scene of an imaging device according to an embodiment of the present application;

[0085] FIG. 4A to FIG. 4C are schematic diagrams of a frame of an imaging device according to an embodiment of the present application;

[0086] FIG. 5 is a schematic diagram of a flow of an imaging method according to an embodiment of the present application;

[0087] FIG. 6 is a schematic diagram of a flow of another imaging method according to an embodiment of the present application;

[0088] FIG. 7 is a schematic diagram of a first filter unit array and a first light sensing unit array according to an embodiment of the present application;

[0089] FIG. 8 is a schematic diagram of a flow of another imaging method according to an embodiment of the present application;

[0090] FIG. 9 is a schematic diagram of a region where an interfering light beam is located according to an embodiment of the present application;

[0091] FIG. 10A to FIG. 10C are schematic diagrams of a filter unit according to an embodiment of the present application;

[0092] FIG. 11 is a schematic diagram of a dichroic dye according to an embodiment of the present application;

[0093] FIG. 12A to FIG. 12B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0094] FIG. 13A to FIG. 13B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0095] FIG. 14A to FIG. 14B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0096] FIG. 15A to FIG. 15B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0097] FIG. 16 is a schematic diagram of an arrangement of the dichroic dye in FIG. 15A or FIG. 15B;

[0098] FIG. 17A to FIG. 17B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0099] FIG. 18A to FIG. 18B are schematic diagrams of another filter unit according to an embodiment of the present application;

[0100] FIGS. 19A-19B are schematic diagrams of another filter unit according to embodiments of the present application;

[0101] FIGS. 20A-20B are schematic diagrams of another filter unit according to embodiments of the present application;

[0102] FIG. 21 is a schematic diagram of another application scenario according to embodiments of the present application. DETAILED DESCRIPTION

[0103] In order to make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described below with reference to the drawings.

[0104] The terms "first" and "second" and the like in the specification, claims and drawings of the present application are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device, etc.

[0105] In this document, "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it independent or alternative to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0106] It should be understood that in the present application, "at least one" means one or more, "multiple" means two or more, "at least two" means two or three and more, and "and / or" is used to describe the relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of only A, only B and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b and c can be single or multiple.

[0107] The following will first explain some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and are not intended to limit the scope of protection required by this application.

[0108] 1. Guest-host effect.

[0109] The guest-host effect refers to using dichroic dyes that absorb visible light differently along the long axis and short axis direction as a guest, dissolved in a host of oriented liquid crystal, the dichroic dye will align with the liquid crystal molecules, when the arrangement of liquid crystal molecules changes under the action of an electric field, the arrangement direction of the dye molecules and the absorption of incident light also change, realizing functions such as optical switching or optical filtering.

[0110] 2. Dichroic dye.

[0111] Dichroic dye is a dye with special optical properties. The absorption coefficient of the molecules of this type of dye depends on the polarization state of the incident light. Generally, the absorption of the crystal to the incident light is different when the polarization direction of the incident light is different.

[0112] The molecules of dichroic dye are generally ellipsoidal in shape, with a long axis and a short axis. According to the absorption coefficient of the long axis and the short axis to the polarized light, dichroic dye can be divided into positive dichroic dye molecules and negative dichroic dye molecules. For positive dichroic dye molecules, the polarized light component parallel to the long axis will be absorbed, and the polarized light component perpendicular to the long axis will not be absorbed. For negative dichroic dye molecules, polarized light parallel to the long axis will not be absorbed, and polarized light component perpendicular to the long axis will be absorbed.

[0113] 3. Liquid crystal material.

[0114] Liquid crystal material has unique properties between liquid and crystal. Liquid crystal material usually has a certain long axis and short axis, and its arrangement can change under the influence of external electric field, magnetic field or temperature, etc.

[0115] 4. Metasurface.

[0116] Metasurface is an artificial layered material with a thickness less than the wavelength, which is composed of a planar array of meta-atoms with subwavelength size. The geometric structure and spatial arrangement of these meta-atoms can be precisely designed according to the target phase distribution. Metasurface can be used in optical imaging, optical fiber communication and spectral analysis, etc. optical field, to realize the functions that traditional filters such as polarization filtering, ultra-narrow band filtering or tunable filtering are difficult to achieve.

[0117] 5. Polarization filtering.

[0118] Polarization filtering refers to the use of a filtering device to filter out or attenuate light of a specific polarization direction, achieving the screening and processing of light. Polarization filtering has wide applications in photography or machine vision and other fields.

[0119] 6. Intensity filtering.

[0120] Intensity filtering refers to the use of a filtering device to allow light of a specific intensity range to pass through or to adjust the intensity of light to a certain extent to achieve a specific effect or meet a specific requirement.

[0121] 7. Image sensor.

[0122] An image sensor is a device that converts optical images into electrical signals. Its main function is to capture light and convert it into digital signals, so that images can be processed, stored, displayed and transmitted by electronic devices. Image sensors have high resolution, high sensitivity and fast response, and are widely used in digital cameras, smartphones, cameras, medical imaging devices, industrial detection devices and other fields. For example, an image sensor can be a complementary metal oxide semiconductor (CMOS) sensor, a charge coupled device (CCD) sensor, a backside illumination (BSI) CMOS sensor or a quantum dot image sensor, etc. Of course, an image sensor can also refer to a photodetector of a laser radar, such as a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a multi-pixel photon counter (MPPC), an avalanche photo detector (APD), or a "positive-intrinsic-negative" (PIN) diode (or a P-type semiconductor-impurity-N-type semiconductor diode).

[0123] The above explanations of the terms can be applied hereinafter.

[0124] With the development of science and technology, people's demand for the performance of image sensors is also getting higher and higher. In some specific scenarios, the image sensor may not be able to meet people's needs. For example, in the night driving scenario, the high beam of the oncoming vehicle will produce strong glare, which is easy to exceed the dynamic range of the camera of intelligent driving. Please refer to FIG. 1, in the night driving scenario shown in FIG. 1, the strong light emitted by the car light of the ego vehicle will irradiate to the oncoming vehicle, on the one hand, it is easy to affect the normal driving of the oncoming vehicle driver, on the other hand, it will also affect the normal perception of the intelligent driving camera, and then affect the safe driving of the oncoming vehicle. For another example, in the automatic parking scenario, the strong ground reflection will also interfere with the normal imaging of the vehicle-mounted camera, thereby causing parking failure. Please refer to FIG. 2, in the parking scenario shown in FIG. 2, the light emitted by the lighting device of the basement ceiling will form a reflection on the ground, and the ground reflection will be misidentified as the identification line of the parking space, which is easy to cause parking failure.

[0125] Therefore, the present application provides an imaging device, an imaging method and related products, which relate to the field of imaging technology, can perform independent filtering control on multiple receiving areas, can realize functions such as sub-area filtering or different filtering modes in different areas, thereby completing the filtering of the interference light beam and not affecting the reception of other light beams, and further improving the application range and imaging performance of the imaging device, so that the imaging device can have good imaging effect when applied in different scenarios.

[0126] Next, an application scenario of the imaging device provided by the present application will be introduced. FIG. 3 exemplarily shows a schematic diagram of an application scenario of an imaging device. In this example, the imaging device 30 is installed on a vehicle, and therefore is also called a vehicle-mounted imaging device. In addition, the imaging device 30 also includes a ship-mounted imaging device installed on a ship, a machine-mounted imaging device installed on a machine, etc. In one possible example, as shown in FIG. 3, the imaging device 30 can receive light beams from an object space and generate an image, so as to realize the driving function of the vehicle by using the image information, including but not limited to automatic driving or auxiliary driving, etc. In another possible example, the imaging device 30 can also be called a detection device, which can emit a detection signal, the detection signal is reflected after irradiating to an object in front of the vehicle, and the echo signal reflected back can be received by the imaging device 30, and then the imaging device 30 detects the obstacle information in front of the vehicle based on the echo signal, such as the size, speed and distance of the obstacle, etc., so as to realize the driving function of the vehicle by using the obstacle information, including but not limited to automatic driving or auxiliary driving, etc.

[0127] In combination with FIGS. 4A to 4C, the imaging device 30 will be described in detail.

[0128] As shown in FIG. 4A, the imaging device 30 includes a light sensing unit 301, a filter unit 302, and a processing unit 303. The light sensing unit 301 is configured to convert a light signal into an electrical signal, for example, the light sensing unit 301 includes the image sensor described above, and the image sensor is described above, which will not be repeated here. The filter unit 302 is configured to filter the light beam, for example, the filter unit 302 is configured to perform polarization filtering and / or intensity filtering on the light beam. The processing unit 303 is configured to process the light beam received by the light sensing unit 301 and control the filtering manner of the filter unit 302. Therefore, in some implementations, the processing unit 303 can also be considered to be composed of a processing unit and a control unit. In some implementations, the processing unit 303 can include a processing circuit, and the processing unit 303 can also include a processing chip and the like, which is not limited in the present application.

[0129] It can be understood that the light sensing unit can refer to a light sensing unit corresponding to one pixel in an image, or can refer to a light sensing unit corresponding to multiple pixels in an image. In order to facilitate the description of the method, the light sensing unit can be understood as a light sensing unit corresponding to one pixel in an image, and the light sensing unit array can be understood as a light sensing unit corresponding to multiple pixels in an image. Similarly, in the description of the method, the filter unit can also be understood as a filter unit corresponding to one pixel in an image, and the filter unit array can be understood as a filter unit corresponding to multiple pixels in an image. Of course, the specific situation is still described below.

[0130] As shown in FIGS. 4B and 4C, the imaging device 30 further includes a lens combination, which can also be referred to as a receiving module or an optical element, etc. The lens combination is configured to collect the light beam in the object space and focus the collected light beam on the light sensing unit 301, so as to make the light sensing unit 301 image. The lens combination and the filter unit 302 are located on the light receiving side of the light sensing unit 301, and the positions of the lens combination and the filter unit 302 are not limited in the present application. For example, the filter unit 302 is located between the lens combination and the light sensing unit 301, as shown in FIG. 4B. For another example, the lens combination is located between the light sensing unit 301 and the filter unit 302, as shown in FIG. 4C.

[0131] Optionally, in the case where the lens combination includes a plurality of lenses, the filter unit 302 can also be located inside the lens combination. Of course, in the case where the filter unit 302 is a thin film, the filter unit 302 can also be attached to the lens of the lens combination or the light receiving side of the light sensing unit 301.

[0132] In a possible implementation, the imaging device 30 can further include an imaging unit configured to convert the electrical signal output by the light sensing unit 301 into an image, or extract the detection information of the object space from the electrical signal output by the light sensing unit 301.

[0133] Please refer to FIG. 5, which is a flowchart of an imaging method provided by an embodiment of the present application. The imaging method shown in FIG. 5 can include one or more of steps S501 to S503. For example, in some scenarios, only steps S501 and S503 can be included. It should be understood that, for the convenience of description, the steps S501 to S503 are described in this order, and it is not intended to limit the execution of the steps in the above order. The embodiments of the present application do not limit the order of execution, the time of execution, the number of execution, etc. of the one or more steps. The steps S501 to S503 are as follows:

[0134] S501, the imaging device receives a first light beam through a first photosensitive unit, and converts the first light beam into a first electrical signal.

[0135] For example, the imaging device is the imaging device 30 described above, and the first photosensitive unit is the photosensitive unit 301 described above. The first photosensitive unit can be a photosensitive unit corresponding to the smallest unit in the image, for example, the first photosensitive unit is a photosensitive unit corresponding to one pixel in the image. Correspondingly, the first light beam can be used to generate a light beam corresponding to the smallest unit in the image, for example, the first light beam can be used to generate one pixel in the image.

[0136] As can be known from the above introduction of FIGS. 4A to 4C, the first light beam received by the first photosensitive unit can pass through the filter unit, and the filter unit can filter the passing light beam or not. When the filter unit does not filter the passing light beam, it can be considered that the light beam received by the first photosensitive unit directly comes from the object space. Therefore, the first light beam can be a filtered light beam, or a light beam directly from the object space. For the convenience of understanding, the following will first take the first light beam as an example of a light beam directly from the object space (i.e., the filter unit does not filter the passing light beam), and then make relevant introduction.

[0137] S502, the imaging device controls the first filter unit to filter with a first filter parameter based on the first electrical signal through a processing unit.

[0138] For example, the processing unit is the processing unit 303 described above, and the description of the processing unit 303 can be referred to the foregoing description, which will not be repeated here.

[0139] In one possible implementation, the imaging device controls the first filter unit to filter with a first filter parameter based on the first electrical signal through a processing unit, including the following steps:

[0140] Step one, the imaging device determines the light intensity and / or the polarization state of the first light beam based on the first electrical signal through a processing unit.

[0141] Exemplarily, the light intensity of the first light beam is determined based on the first electrical signal in any of the following five manners.

[0142] Manner one, the processing unit determines the light intensity of the first light beam by measuring the amplitude of the first electrical signal. It can be understood that the light intensity of the first light beam is usually proportional to the amplitude of the first electrical signal, and thus the peak value or effective value of the first electrical signal can be measured by using an oscilloscope or other measuring instruments to obtain the light intensity of the first light beam.

[0143] Manner two, the processing unit determines the light intensity of the first light beam by measuring the power of the first electrical signal. It can be understood that the amplitude of the electrical signal can be used to identify the size of the voltage or current, and generally, the larger the amplitude of the electrical signal, the larger the voltage or current. Therefore, the power of the first electrical signal can be measured by using a wattmeter measurement method, a voltage and current measurement calculation method, an oscilloscope measurement method or a power analyzer measurement method, and then the light intensity of the first light beam is determined.

[0144] Manner three, the processing unit can first perform digital-to-analog conversion on the first electrical signal, and then use digital signal processing techniques such as calculating average value, root mean square value and other statistical quantities to evaluate the light intensity of the first electrical signal.

[0145] Manner four, the processing unit can obtain the electrical signal characteristics corresponding to different light intensities in advance and establish a calibration curve or table. After obtaining the first electrical signal, the light intensity of the first light beam is determined by looking up the calibration curve or querying the table according to the characteristics of the first electrical signal.

[0146] Manner five, the processing unit can integrate the first electrical signal in time, and obtain the light intensity of the first light beam according to the integration result.

[0147] Exemplarily, the polarization state of the first light beam is determined based on the first electrical signal, and then the polarization state of the first light beam can be determined by the light intensity of the first light beam corresponding to the first electrical signal and the imaging scene, for example, the light intensity of the first light beam exceeds a certain threshold value, and the imaging scene is a basement or has a glass curtain wall, then the first light beam is polarized light. For another example, the polarization direction of ground reflection is usually horizontal, and the polarization direction of wall reflection is usually vertical.

[0148] Step two, the imaging device determines the first filtering parameter based on the light intensity and / or the polarization state of the first light beam by the processing unit.

[0149] The first filter parameter is used to filter the light beam before the first light-receiving unit receives the light beam, so that the imaging device can accurately image. It should be noted that the filter parameter in the present application includes a filter mode and a filter attribute corresponding to the filter mode. The filter mode includes polarization filtering and / or intensity filtering. When the filter mode includes polarization filtering, the filter attribute corresponding to the filter mode includes a polarization direction corresponding to the polarization filtering and a degree of attenuation of light intensity in the polarization direction by the polarization filtering. When the filter mode includes intensity filtering, the filter attribute corresponding to the filter mode includes a degree of attenuation of light intensity by the intensity filtering. For example, the first filter parameter includes a first filter mode and a first filter attribute corresponding to the first filter mode. The first filter mode includes polarization filtering and / or intensity filtering. The first filter attribute corresponding to the first filter mode can refer to the description of the filter attribute corresponding to the filter mode above, which will not be described here. Next, how to determine the first filter parameter based on the light intensity and / or the polarization state of the first light beam will be described by way of example. The first filter parameter includes a first filter mode and a first filter attribute corresponding to the first filter mode.

[0150] As can be known from the above description of FIG. 1, when the light intensity exceeds the dynamic range of the imaging device, it is easy to affect the normal generation of images by the imaging device. For example, under the influence of strong light, a background blind area is easily generated. Therefore, it is necessary to suppress the light intensity of the light beam received by the imaging device, so that the imaging device can normally generate images.

[0151] For example, when the light intensity of the first light beam is greater than the first threshold value, the first filter mode includes intensity filtering, and the first filter attribute includes a degree of attenuation of light intensity by the intensity filtering.

[0152] The first threshold value can be preset. For example, the first threshold value is preset according to the performance of the first light-receiving unit. For example, the first threshold value is preset according to the dynamic range of the first light-receiving unit. When the dynamic range of the first light-receiving unit is between 1 lux and 10,000 lux, the first threshold value can be set to 9,000 lux or 10,000 lux, etc. The first threshold value can also be dynamically adjusted according to other light beams received by the imaging device. For example, the imaging device includes a plurality of light-receiving units, the first light-receiving unit is one of the plurality of light-receiving units, and at the same time the imaging device receives a plurality of light beams through the plurality of light-receiving units. The first threshold value can be determined in combination with the light intensity of the plurality of light beams. For example, the average of the light intensity of the plurality of light beams is 2,000 lux, and the first threshold value can be set to 4,000 lux or 5,000 lux, etc. How to determine the first threshold value based on the light intensity of the plurality of light beams is not limited in the present application.

[0153] It is easy to understand how to set the first threshold value, and how to determine that the light intensity of the first light beam is greater than the first threshold value, and how to determine that the first filtering mode includes intensity filtering, in the case of setting the first threshold value. Therefore, no further description is given here.

[0154] Further, it is also necessary to determine the first filtering attribute. For example, the first filtering attribute can be determined based on the light intensity of the first light beam and the first threshold value. For example, the light intensity of the first light beam is 12000 lux, and the first threshold value is 10000 lux. In order to let the first light-receiving unit receive a light beam with a light intensity less than the first threshold value, the first filtering attribute can be set to attenuate the light intensity by 2000 lux by intensity filtering, or the first filtering attribute can be set to attenuate the light intensity by more than 17% by intensity filtering. In summary, the first filtering attribute is set to let the first light-receiving unit receive a light beam that meets the requirements, so as to let the imaging device generate a more accurate and clear image, thereby improving the perception performance of the imaging device.

[0155] As can be known from the above description of FIG. 2, the reflection of the garage floor is easy to be identified as the identification line of the parking space by the imaging device, thereby causing parking failure. The reflection of the garage floor is usually polarized light. It can also be understood that most of the light sources in nature produce light that is usually unpolarized, and the polarized light in nature is usually formed by reflection, refraction or scattering of unpolarized light. It can be seen that most of the polarized light is an interfering light beam, which is easy to interfere with the imaging of the imaging device, such as the reflection of the garage floor in FIG. 2. Therefore, it is necessary to filter out the polarized light in the light beam received by the imaging device, so as to enable the imaging device to normally generate an image.

[0156] For example, when the first light beam is polarized light, the first filtering mode includes polarization filtering, and the first filtering attribute includes the polarization direction corresponding to the polarization filtering and the degree of attenuation of the light intensity by the polarization filtering.

[0157] It is easy to understand that the first filtering mode includes polarization filtering in the case of the first light beam being polarized light, which will not be described here. In the case of the first light beam being polarized light, the polarization direction of the first polarized light can be determined to determine the polarization direction corresponding to the polarization filtering included in the first filtering attribute. For example, the polarization direction of the first light beam is the same as the polarization direction corresponding to the polarization filtering included in the first filtering attribute. For example, the polarization direction of the first light beam is horizontal, and the polarization direction corresponding to the polarization filtering included in the first filtering attribute is also horizontal.

[0158] Alternatively, in the case where the polarization direction of the first light beam cannot be determined, a preset polarization direction can be used as the "polarization direction corresponding to the polarization filtering", for example, a vertical direction.

[0159] It should be noted that the polarization direction corresponding to the polarization filtering in the present application is used to attenuate or filter out the polarized light of the polarization direction corresponding to the polarization filtering. For example, the polarization direction of the first light beam is the horizontal direction, and the polarization direction corresponding to the polarization filtering included in the first filtering attribute is the horizontal direction. Therefore, the first filtering unit is used to filter out or attenuate the polarized light of the horizontal direction.

[0160] As can be known from the above description, the polarized light is usually an interference light beam. Therefore, the degree of light intensity attenuation of the polarization filtering in the first filtering attribute is usually set to complete filtering. Of course, in some scenarios, the polarized light beam can also be used for imaging. For example, the polarized light beam usually contains information related to the material or moving speed of the target object, and the material or moving speed of the target object can be detected by using the polarized light beam. Therefore, in this scenario, the degree of light intensity attenuation of the polarization filtering in the first filtering attribute can be partial filtering. For example, the degree of light intensity attenuation of the polarization filtering in the first filtering attribute can be determined based on the light intensity of the first light beam and a second threshold. The second threshold and how to determine the degree of light intensity attenuation based on the light intensity of the first light beam and the second threshold can be referred to the related description of the first threshold above, which will not be described here. For example, the light intensity of the first light beam is 5000 lux, and the second threshold is 4000 lux. Therefore, the first filtering attribute can be set to attenuate the light intensity by 1000 lux by polarization filtering, or the first filtering attribute can be set to attenuate the light intensity by more than 20% by polarization filtering.

[0161] In order to more clearly show the possible cases of the first filtering parameter, the possible cases of the first filtering parameter can be exemplarily shown in the form of a table. Table 1 is an exemplary first filtering parameter.

[0162] Table 1: First filtering parameter

[0163] In summary, the first filtering mode in the first filtering parameter can be polarization filtering or intensity filtering, or can be both polarization filtering and intensity filtering, so as to meet various filtering requirements, so that the first light sensing unit receives a light beam that does not include or includes less interference light beam, thereby improving the sensing performance of the imaging device.

[0164] Step three, the imaging device controls the first filtering unit to perform filtering with the first filtering parameter by the processing unit.

[0165] The first filtering unit is, for example, the aforementioned filtering unit 302. Details about the first filtering unit can be found in the description of the aforementioned filtering unit 302, which will not be repeated here. As can be known from the description of step two above, the filtering function that can be performed by the first filtering unit is various, for example, the first filtering unit needs to be able to perform polarization filtering and / or intensity filtering, and the filtering mode also corresponds to adjustable filtering properties. Therefore, in the subsequent content, several filtering units provided by the present application will also be shown accordingly, which will not be described in detail here.

[0166] In the case of determining the first filtering parameter, the implementation of the first filtering unit controlled by the processing unit to perform filtering with the first filtering parameter is not specifically limited by the present application. For example, a control signal can be sent to the first filtering unit wirelessly, and then the control unit on the filtering unit controls the first filtering unit to perform filtering with the first filtering parameter according to the control signal. For another example, a control instruction can be sent to the first filtering unit directly through a wired manner to control the first filtering unit to perform filtering with the first filtering parameter.

[0167] S503, the imaging device receives, through the first photosensitive unit, the second light beam filtered by the first filtering unit with the first filtering parameter.

[0168] The second light beam can be a light beam received by the first photosensitive unit after receiving the first light beam, or the second light beam and the first light beam are light beams from the same object in the object space, or the second light beam corresponds to a light beam before filtering that has similar characteristics to the first light beam, for example, similar or identical light intensity, similar or identical polarization state.

[0169] As can be known from the description of step two in S502 above, the first filtering parameter is determined based on the light intensity and / or polarization state of the first light beam, for example, if the light intensity of the first light beam exceeds a threshold, the first filtering parameter includes intensity filtering. For another example, if the first light beam is polarized light, the first filtering parameter includes polarization filtering. In combination, the first filtering unit filters the first light beam with the first filtering parameter to obtain the second light beam, which can make the light intensity of the second light beam within the dynamic range of the first photosensitive unit, and also determine that there is no polarized light in the second light beam or the light intensity of the polarized light is within the dynamic range of the first photosensitive unit. Therefore, the image generated by the imaging device based on the second light beam does not include or includes less interference information, which can effectively improve the perception performance of the imaging device. Optionally, the imaging device also filters the first light beam with the first filtering parameter. Optionally, the imaging device also images based on the second light beam.

[0170] The imaging method shown in FIG. 5 can determine the first filtering parameter by analyzing the first electrical signal corresponding to the first light beam. Then, the first filtering unit is controlled to filter the light beam with the first filtering parameter, and the second light beam is obtained. Finally, the imaging is performed based on the second light beam, so that the image generated by the imaging device does not include interference information or includes less interference information, thereby significantly improving the imaging quality and further improving the perception performance of the imaging device.

[0171] It can be understood that the objects or light rays in the environment are dynamically changing. For example, the imaging device is installed on a vehicle, so that the light beam received by the first photosensitive unit is constantly adjusted along with the movement of the vehicle. In addition, the first filtering unit cannot ensure that the filtered light beam meets the requirements or that the filtered light beam does not include or includes less interference light beam. Therefore, the present application provides another imaging method, which can generate a second filtering parameter based on the light beam filtered by the first filtering unit with the first filtering parameter and the first filtering parameter, and perform imaging based on the light beam filtered based on the second filtering parameter, so as to dynamically adjust the filtering parameter on the first filtering unit, thereby ensuring that the light beam received by the first photosensitive unit does not include or includes less interference light beam, and further improving the perception performance of the imaging device.

[0172] Referring to FIG. 6, FIG. 6 is a flowchart of another imaging method provided by the present application. The imaging method shown in FIG. 6 is used to introduce the imaging method corresponding to “generating a second filtering parameter based on the light beam filtered by the first filtering unit with the first filtering parameter and the first filtering parameter, and performing imaging based on the light beam filtered based on the second filtering parameter”. It can be understood that the steps in the embodiments of the present application can be regarded as a reasonable deformation or supplement of the embodiments in FIG. 5. Alternatively, it can be understood that the imaging method in the embodiments of the present application can also be regarded as an independently executable embodiment, and the present application does not limit this. The imaging method shown in FIG. 6 includes but is not limited to the following steps:

[0173] S601, the imaging device receives a second light beam through a first photosensitive unit, and converts the second light beam into a second electrical signal, the second light beam being a light beam filtered by a first filtering unit with a first filtering parameter.

[0174] The imaging device is, for example, the imaging device 30 described above, and the first photosensitive unit is, for example, the photosensitive unit 301 described above. The first photosensitive unit is introduced with reference to the description of S501 above, and will not be described here. The second light beam is a light beam filtered by the first filtering unit with the first filtering parameter. The second light beam is introduced with reference to the description of S503 above, and will not be described here.

[0175] In a possible implementation, the second light beam includes an interfering light beam. For example, the light intensity of the second light beam is greater than the maximum light intensity that the first photosensitive unit can receive. For another example, the second light beam includes polarized light, or the light intensity of the polarized light is greater than the maximum light intensity that the first photosensitive unit can receive. In general, the image quality of the image formed based on the second light beam needs to be improved. In this case, if the first photosensitive unit is controlled to continue filtering the light beam with the first filter parameter and used for imaging, it is obviously not conducive to obtaining high-quality imaging.

[0176] S602, the imaging device generates, by the processing unit, a second filter parameter based on the second electric signal and the first filter parameter.

[0177] In a possible implementation, the light intensity and / or the polarization state of the second light beam can be determined based on the second electric signal. Then, the third filter parameter needed for filtering the second light beam is determined based on the light intensity and / or the polarization state of the second light beam. Further, the second filter parameter is determined in combination of the first filter parameter and the third filter parameter. Wherein, the implementation process of determining the light intensity and / or the polarization state of the second light beam based on the second electric signal can refer to the description of "step one" in the foregoing S502, which will not be described here again. The third filter parameter needed for filtering the second light beam is determined based on the light intensity and / or the polarization state of the second light beam, which can refer to the description of "step two" in the foregoing S502, which will not be described here again either. For ease of description, the first filter parameter and the third filter parameter are exemplarily shown in the form of a table as follows. Table 2 is an exemplary first filter parameter, and Table 3 is an exemplary third filter parameter. Wherein, the first filter parameter includes a first filter mode and a first filter attribute, and the third filter parameter includes a third filter mode and a third filter attribute.

[0178] Table 2 First filter parameter

[0179] Table 3 Third filter parameter

[0180] As shown in Table 2 and Table 3, the first filtering manner is polarization filtering, the polarization direction corresponding to the polarization filtering in the first filtering attribute is horizontal direction, and the degree of light intensity attenuation of the polarization filtering in the horizontal direction is complete filtering. It can be known that the second light beam does not include polarized light in the horizontal direction. However, the third filtering manner in the third filtering parameter determined based on the second light beam is intensity filtering, and the degree of light intensity attenuation of the intensity filtering in the third filtering attribute is weakening 2000 lux of light intensity. It can be known that the light intensity of the second light beam exceeds the maximum value of the light intensity that the first photosensitive unit can receive. Therefore, the second filtering parameter determined based on the first filtering parameter and the third filtering parameter is shown in Table 4, and Table 4 is an exemplary second filtering parameter. The second filtering parameter includes the second filtering manner and the second filtering attribute.

[0181] Table 4 Second filtering parameter

[0182] It should be noted that the above determination of the second filtering parameter based on the first filtering parameter and the third filtering parameter is one possible implementation of determining the second filtering parameter, and should not be regarded as a limitation of the present application.

[0183] In another possible implementation, the light intensity and / or the polarization state of the second light beam can be determined based on the second electrical signal. Then, the third light beam corresponding to the second light beam and not passing through the first filtering unit is restored based on the light intensity and / or the polarization state of the second light beam and the first filtering parameter. Further, the second filtering parameter is determined based on the third light beam. The implementation process of determining the light intensity and / or the polarization state of the second light beam based on the second electrical signal can refer to the description of the “Step One” in the foregoing S502, which will not be described here. The light intensity and / or the polarization state of the second light beam can be represented in the form of a table, and Table 5 is an exemplary light intensity and / or polarization state of the second light beam.

[0184] Table 5 Light intensity and / or polarization state of the second light beam

[0185] For ease of understanding, another first filtering parameter is also shown in the form of a table, and Table 6 is another first filtering parameter.

[0186] Table 6 First filtering parameter

[0187] As shown in Table 5 and Table 6, the light intensity of the second light beam is 8000 lux, and the first filtering parameter is used to weaken 20% of the light intensity. It can be calculated that the light intensity of the third light beam corresponding to the second light beam is 10000 lux, and the polarization state is no polarization.

[0188] Further, the second filtering parameter can be determined based on the third light beam. For how to determine the second filtering parameter based on the third light beam, refer to the description of "step two" in S502 above. Exemplarily, the maximum light intensity that the first light receiving unit can receive is 7000 lux, and the determined second filtering parameter can be represented in the form of a table, such as Table 7 for an exemplary second filtering parameter.

[0189] Table 7 Second filtering parameter

[0190] As shown in Table 7, the second filtering mode is intensity filtering, and the second filtering attribute is that the intensity filtering attenuates the light intensity by 30%.

[0191] S603, the imaging device receives the light beam filtered by the first filtering unit with the second filtering parameter through the first light receiving unit.

[0192] For how to receive the light beam filtered by the first filtering unit with the second filtering parameter through the first light receiving unit, refer to the description of S503 above, which will not be described here.

[0193] Optionally, the imaging device can perform imaging based on the light beam filtered by the first filtering unit with the second filtering parameter.

[0194] It can be understood that in the case that the second light beam still includes an interference light beam, the second filtering parameter is determined based on the second light beam and the first filtering parameter, so that the first filtering unit can timely filter out the interference light beam in the light beam, and the image obtained by the imaging device based on the light beam filtered by the first filtering unit with the second filtering parameter has high imaging quality, thereby facilitating to improve the perception performance of the imaging device.

[0195] The imaging method shown in FIGS. 5 and 6 above is exemplarily introduced to the imaging method provided by the present application by taking one light receiving unit and one filtering unit as an example. In the specific implementation process, the imaging device usually includes multiple light receiving units and multiple filtering units, or in other words, the light beam received by the light receiving unit in the imaging device is usually used to generate images corresponding to multiple pixels, and the filtering unit in the imaging device is also usually used to filter light beams corresponding to multiple pixels. Therefore, next, the imaging method provided by the present application is exemplarily introduced by taking that the imaging device includes a first light receiving unit array and a first filtering unit array, the first light receiving unit is a light receiving unit in the first light receiving unit array, and the first filtering unit is a filtering unit in the first filtering unit array.

[0196] It should be noted that the first photosensitive unit array can include a plurality of photosensitive units, the first filter unit array can include a plurality of filter units, and the plurality of photosensitive units in the first photosensitive unit array and the plurality of filter units in the first filter unit array have a corresponding relationship. For example, one photosensitive unit in the first photosensitive unit array corresponds to one filter unit in the first filter unit array, and in the case of corresponding photosensitive units and filter units, the light beam received by the photosensitive unit is filtered by the filter unit. For example, the aforementioned first photosensitive unit and first filter unit can be considered to have a corresponding relationship.

[0197] For better understanding, please refer to FIG. 7, the first filter unit array 701 and the first photosensitive unit array 702 shown in FIG. 7 each include 10 regions, and the region numbers are 1-10 in sequence. Among them, the regions with the same number in the first filter unit array 701 and the first photosensitive unit array 702 are corresponding regions, for example, the region numbered 1 in the first filter unit array 701 corresponds to the region numbered 1 in the first photosensitive unit array 702, and the light beam received by the region numbered 1 in the first photosensitive unit array 702 is filtered by the region numbered 1 in the first filter unit array 701.

[0198] In a possible design, one region in the first filter unit array 701 can include one or more filter units, and correspondingly, one region in the first photosensitive unit array 702 can also include one or more photosensitive units.

[0199] In another possible design, the division of regions in the first filter unit array 701 or the first photosensitive unit array 702 is not limited in the present application. For example, the division of regions can be neat, as shown in FIG. 7. For another example, the boundaries of the regions obtained by division can also be irregular, for example, the boundaries of the regions are zigzag or arc-shaped, etc. For another example, one region can be composed of two non-adjacent sub-regions, for example, the region 1 and the region 5 shown in FIG. 7 can be collectively referred to as one region. It should be noted that the positional relationship between the first filter unit array 701 and the first photosensitive unit array 702 shown in FIG. 7 is exemplary, for example, other optical elements can also be included between the first filter unit array 701 and the first photosensitive unit array 702.

[0200] Please refer to FIG. 8, which is a flowchart of another imaging method provided by the present application. The imaging method shown in FIG. 8 is used to introduce the imaging method corresponding to the imaging device comprising a first photosensitive unit array and a first filter unit array, wherein the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filter unit is a filter unit in the first filter array. It can be understood that the steps in the embodiments of the present application can be regarded as a reasonable deformation or supplement of the embodiments in FIG. 5 or FIG. 6; or it can be understood that the imaging method in the embodiments of the present application can also be regarded as an independently executable embodiment, and the present application does not limit this. The imaging method shown in FIG. 8 includes but is not limited to the following steps:

[0201] S801, the imaging device receives a first light beam set through the first photosensitive unit array and converts the first light beam set into a first electrical signal set.

[0202] Wherein, the imaging device is, for example, the imaging device 30 described above, and the first photosensitive unit array is, for example, the first photosensitive unit array 702 shown in FIG. 7 described above, which includes the first photosensitive unit shown in FIG. 5 described above. The light beam received by the first photosensitive unit array can be used to generate a plurality of pixels in an image. Correspondingly, the first light beam set can include a plurality of light beams used to generate pixels in an image, for example, the first light beam set includes the first light beam described above. The first light beam set can be used to generate a plurality of pixels in an image. It can be understood that each light beam in the first light beam set can be converted into an electrical signal by a photosensitive unit, so that the first light beam set can also be converted into a first electrical signal set, and the first electrical signal set includes the first electrical signal described above.

[0203] S802, the imaging device controls the first filter unit array to filter with a first filter parameter set based on the first electrical signal set through the processing unit.

[0204] Wherein, the processing unit is, for example, the processing unit 303 described above, and the description of the processing unit 303 can be referred to the foregoing description, which will not be repeated here.

[0205] In one possible implementation, the step of controlling the first filter unit array to filter with a first filter parameter set based on the first electrical signal set through the processing unit includes the following steps:

[0206] Step one, the imaging device determines that the first light beam set includes an interference light beam based on the first electrical signal set through the processing unit.

[0207] Exemplarily, the determination that the first light beam set includes an interference light beam based on the first electrical signal set can be achieved by any one of the following three ways.

[0208] In a first manner, the processing unit determines, based on the first set of electrical signals, that the first set of light beams includes a light beam having a light intensity greater than a first threshold value, and determines that the first set of light beams includes the interfering light beam. For how to determine the light intensity of a light beam based on electrical signals, refer to the description of the corresponding content in the aforementioned "Step One" of S502, which will not be described here.

[0209] Optionally, the light beam in the first set of light beams having a light intensity greater than the first threshold value is the interfering light beam. For the first threshold value, refer to the description of the corresponding content in the aforementioned "Step Two" of S502, which will not be described here.

[0210] In a second manner, the processing unit determines, based on the first set of electrical signals, that the first set of light beams has an average light intensity greater than a third threshold value, and determines that the first set of light beams includes the interfering light beam.

[0211] For example, the first set of light beams includes three light beams, and the light intensities of the three light beams are 3000 lux, 4000 lux and 5000 lux, respectively. The average light intensity of the first set of light beams can be calculated as 4000 lux.

[0212] The third threshold value can be preset, for example, the third threshold value is preset according to the performance of the first array of light sensing units. For example, the third threshold value is preset according to the dynamic range of the first array of light sensing units. When the dynamic range of the first array of light sensing units is between 1 lux and 10000 lux, the third threshold value can be set to 9000 lux or 10000 lux, etc.

[0213] Optionally, the region where the interfering light beam is located can be determined according to histogram statistics or pixel value space distribution feature extraction, etc. The interfering light beam includes a light beam having a light intensity greater than the first threshold value, and / or a polarized light beam.

[0214] In a third manner, the processing unit determines, based on the first set of electrical signals, that the first set of light beams includes a polarized light, and determines that the first set of light beams includes the interfering light beam. For how to determine the polarization state of a light beam based on electrical signals, refer to the description of the corresponding content in the aforementioned "Step One" of S502, which will not be described here.

[0215] Optionally, the polarized light beam in the first set of light beams is the interfering light beam.

[0216] Optionally, the first set of light beams includes the aforementioned first light beam.

[0217] In the case that the first light beam set includes the interference light beam determined in step one of S802, the imaging device determines a first region of the first photosensitive unit array based on the interference light beam in the first light beam set, wherein the first region is a region of the first photosensitive unit array that receives the interference light beam in the first light beam set.

[0218] In the case that the first light beam set includes the interference light beam determined in step one of S802, the imaging device determines a first region of the first photosensitive unit array based on the interference light beam in the first light beam set, wherein the first region is a region of the first photosensitive unit array that receives the interference light beam in the first light beam set.

[0219] For example, the characteristics of the interference light beam in the first light beam set include light intensity, polarization state, corresponding photosensitive unit and filter unit, which can be represented in the form of a table, such as Table 8, which is an example of the characteristics of the interference light beam in the first light beam set.

[0220] Table 8 Characteristics of the interference light beam in the first light beam set

[0221] It should be noted that the first light beam set includes five interference light beams shown in Table 8, which is an example to assist understanding of the imaging method provided by the present application, and should not be considered as a limitation of the present application.

[0222] In order to more clearly describe the corresponding photosensitive unit and filter unit of the interference light beam in the first light beam set, please refer to FIG. 9. In FIG. 9, the region corresponding to the diagonal line is the region that receives the interference light beam, for example, the regions numbered 2, 4, 5, 6 and 8 in the first filter unit array 701 are the regions that receive the interference light beam. For another example, the regions numbered 2, 4, 5, 6 and 8 in the first photosensitive unit array 702 are the regions that receive the interference light beam. Therefore, the first region of the first photosensitive unit array includes the regions numbered 2, 4, 5, 6 and 8 in the first photosensitive unit array 702. It should be noted that the first region can also include any one of the regions numbered 2, 4, 5, 6 or 8 in the first photosensitive unit array 702, for example, the first region is the region numbered 2 in the first photosensitive unit array 702. In the following description of the first region, it can also be considered that the first region carries information about the correspondence between the region and the interference light beam, for example, in the case that the first region is the region numbered 2 in the first photosensitive unit array 702, the first region can also carry information about the correspondence between the first region and the interference light beam 2. Alternatively, the first photosensitive unit shown in FIG. 5 is in the first region.

[0223] The first filter cell array 701 and the first light sensing cell array 702 shown in FIG. 9 can refer to the foregoing description of FIG. 7, and will not be described here. Of course, the regions shown in FIG. 9 can include one or more cells. For example, the region numbered 2 in the first filter cell array 701 can include one filter cell or multiple filter cells. For ease of understanding, the following will take one region including one cell shown in FIG. 9 as an example to introduce the related.

[0224] Step three, the imaging device determines, by the processing unit, a first filter parameter set based on the first region, the first filter parameter set being used for filtering the light beam before being received by the first region.

[0225] The first filter parameter set includes multiple filter parameters, each filter parameter corresponding to a filter cell and being used for adjusting a filtering function implemented by the filter cell. Optionally, each filter parameter in the first filter parameter set can also correspond to the filter cells in a region and be used for adjusting a filtering function implemented by the filter cells in the region.

[0226] For example, referring to the description of "step two" in S502, the filter parameter corresponding to the interference light beam can be determined according to the characteristics of the interference light beam in the first light beam set. For example, the polarization state of the interference light beam 1 shown in Table 8 is horizontally polarized light, so it can be determined that the filter parameter corresponding to the interference light beam 1 is polarization filtering, and the filter attribute is horizontally polarized. For another example, the light intensity of the interference light beam 5 shown in Table 8 is 13000 lux, and the maximum light intensity that the first light sensing cell array can receive is 10000 lux, so it can be determined that the filter parameter corresponding to the interference light beam 5 is intensity filtering, and the filter attribute is that the intensity of the intensity filtering is weakened by 3000 lux. For the purpose of updating the display, the filter parameters corresponding to the interference light beams in the first light beam set can be displayed in the form of a table, as shown in Table 9, which is an example of the filter parameters corresponding to the interference light beams shown in Table 8.

[0227] Table 9 Filter parameters corresponding to interference light beams

[0228] As can be known from the foregoing description, the first filter parameter set includes multiple filter parameters, each filter parameter corresponding to a filter cell and being used for adjusting a filtering function implemented by the filter cell. Therefore, after determining the filter parameter corresponding to the interference light beam in the first light beam set, the corresponding relationship between the filter parameter and the filter cell needs to be determined according to the corresponding relationship between the interference light beam and the filter cell.

[0229] Exemplarily, the corresponding photosensitive unit and filter unit of the interference light beams are shown in Table 8, for example, interference light beam 1 corresponds to filter unit 2, interference light beam 2 corresponds to filter unit 4, and so on. Therefore, the corresponding filtering parameters of each filter unit in the first filter unit array 701 can be determined in combination with Table 8 and Table 9. For ease of description, it can be represented in the form of a table, and Table 10 is an exemplary first filtering parameter set.

[0230] Table 10 First filtering parameter set

[0231] It should be noted that “ / ” in Table 10 above can be used to represent nothing, i.e., no filtering is required. For example, filter unit 1, filter unit 3, filter unit 7, filter unit 9, or filter unit 10 do not need to filter the passing light beams.

[0232] In a possible implementation, the first region of the first photosensitive unit array includes a second region and a third region, the second region and the third region do not overlap each other, the first photosensitive unit is in the second region, and the second photosensitive unit is in the third region. The first filtering parameter set includes a first filtering parameter and a fourth filtering parameter, the first filtering parameter is used to filter the light beams before being received by the first photosensitive unit (the second region), the fourth filtering parameter is used to filter the light beams before being received by the second photosensitive unit (the third region), and the fourth filtering parameter is different from the first filtering parameter.

[0233] Please understand in combination with FIG. 9, for example, the first region of the first photosensitive unit array includes the regions numbered 2, 4, 5, 6, and 8 in the first photosensitive unit array 702, the second region includes the region numbered 2 in the first photosensitive unit array 702, and the third region includes the region numbered 5 in the first photosensitive unit array 702. It can be understood that the second region or the third region can include one or more photosensitive units, and for ease of understanding, the second region or the third region is taken as an example to be introduced herein, which includes one photosensitive unit. The first photosensitive unit is in the second region, which can be understood as that the second region is the first photosensitive unit. The second photosensitive unit is in the third region, which can be understood as that the third region is the second photosensitive unit. The first filtering parameter is used to filter the light beams before being received by the first photosensitive unit, which can be considered as the filtering parameter corresponding to filter unit 2 in Table 10. The fourth filtering parameter is used to filter the light beams before being received by the second photosensitive unit, which can be considered as the filtering parameter corresponding to filter unit 5 in Table 10. It can be seen that the first filtering parameter is different from the fourth filtering parameter.

[0234] As can be seen from the above implementation, the imaging method provided by the present application can perform different filtering modes on the light beams received by different regions to achieve the effect of filtering the light beams using the most suitable filtering mode, thereby effectively improving the imaging quality of the imaging device. In addition, as can be seen from Table 10, for the filtering units (for example, filtering unit 1 or filtering unit 3, etc.) that do not receive interfering light beams, the imaging method provided by the present application controls them to not filter the passing light beams, so that the imaging method provided by the present application can filter the light beams that need to be filtered and not filter the light beams that do not need to be filtered, thereby achieving the effect of filtering the interfering light beams while not affecting the normal light beams, and further improving the perception performance of the imaging device.

[0235] S803, the imaging device receives, through the first photosensitive unit array, a second light beam set filtered by the first filtering unit array with a first filtering parameter set.

[0236] The second light beam set can be a light beam set received by the first photosensitive unit array after receiving the first light beam set, or the second light beam set and the first light beam set are light beam sets from the same object in the object space, or the light beam set corresponding to the second light beam set has similar characteristics to the first light beam set, for example, the distribution of interfering light beams, similar or identical characteristics. Alternatively, the second light beam set includes the second light beam shown in the foregoing S503.

[0237] As can be known from the introduction of step two in the foregoing S802, the first filtering parameter set is determined based on the characteristics of the interfering light beams in the first light beam set, for example, the intensity of the interfering light beams exceeds a threshold value, and the corresponding filtering parameter includes intensity filtering. For another example, the interfering light beams are polarized light, and the corresponding filtering parameter includes polarization filtering. In combination, the light beam set corresponding to the first light beam set and the second light beam set has similar characteristics, so that the first filtering unit array filters the second light beam set with the first filtering parameter set, which can make the intensity of the second light beam set within the dynamic range of the first photosensitive unit array, and also determine that there is no polarized light in the second light beam set, or the intensity of the polarized light is within the dynamic range of the first photosensitive unit array. Therefore, the image generated by the imaging device based on the second light beam set does not include interference information or includes less interference information, which can effectively improve the perception performance of the imaging device. Alternatively, the imaging device also filters through the first filtering unit array with the first filtering parameter set. Alternatively, the imaging device will also image based on the second light beam set.

[0238] In summary, the imaging method provided in the present application can determine the filtering parameter of the filtering unit based on the light beam received by the photosensitive unit, so that the filtering unit filters out or filters less interference light beam in the light beam, thereby improving the perception performance of the imaging device. In addition, the photosensitive unit described above can be a photosensitive unit for receiving a pixel in the image, so that the imaging method provided in the present application can set independent filtering parameters for the light beam corresponding to each pixel to maximize the filtering of interference light beams in the light beam, thereby improving the perception performance of the imaging device as much as possible. On the other hand, since the imaging method provided in the present application can control the filtering unit to filter the light beam in different filtering modes and / or filtering properties, the filtering unit can filter various forms of interference light beams, thereby improving the perception performance of the imaging device in various scenes. On the other hand, since the imaging method provided in the present application can set different filtering parameters for the light beams received by different pixels (regions), the imaging method provided in the present application can filter the interference light beam without affecting the normal light beam, thereby ensuring the accuracy of imaging and improving the perception performance of the imaging device.

[0239] From the above description, it can be known that the imaging method provided in the present application has certain requirements for the function of the filtering unit 302 in the imaging device 30. For example, the filtering unit 302 needs to be able to perform polarization filtering and / or intensity filtering, and the filtering mode corresponding to the filtering property is also adjustable. Therefore, the present application exemplarily provides several filtering units 302 for realizing various filtering functions required by the filtering unit in the above-mentioned imaging method. Next, exemplary introduction will be made in combination with the accompanying drawings.

[0240] Next, the filtering unit provided in the present application for realizing polarization filtering will be exemplarily introduced in combination with the accompanying drawings.

[0241] Please refer to FIG. 10A, which is a schematic diagram of a filtering unit provided in the present application. The filtering unit shown in FIG. 10A is a guest-host effect device, which is composed of two transparent electrode layers, liquid crystal material and dichroic dye. The introduction of the liquid crystal material can refer to the foregoing introduction of the “liquid crystal material”, which will not be repeated here. The dichroic dye can also refer to the foregoing introduction of the “dichroic dye”, which will not be repeated here.

[0242] Exemplarily, the rotation angle of the liquid crystal molecules can also be adjusted by controlling the voltage difference between the two electrode layers, and the rotation angle of the dye molecules is adjusted accordingly, please refer to FIG. 10B and FIG. 10C. In FIG. 10B, the angle between the liquid crystal material and the dichroic dye in the filter unit is rotated 30° clockwise compared with FIG. 10A. In FIG. 10C, the angle between the liquid crystal material and the dichroic dye in the filter unit is rotated 90° clockwise compared with FIG. 10A. Generally, the rotation range of the liquid crystal material in the guest-host effect device can be controlled to be [0, 90°] by adjusting the voltage difference between the two electrode layers.

[0243] In a possible implementation, the filtering degree of the filter unit to the polarized light can be controlled by adjusting the voltage difference between the two electrode layers.

[0244] Exemplarily, the dichroic dye is a positive dichroic dye molecule, i.e. the component of the polarized light parallel to the long axis is absorbed and the component of the polarized light perpendicular to the long axis is not absorbed, wherein the long axis and the short axis of the dichroic dye can refer to the description of FIG. 11.

[0245] As shown in FIG. 10A, the direction indicated by the arrow is the propagation direction of the light beam, and the polarized light in each direction is perpendicular to the long axis of the dichroic dye molecule, so the filter unit shown in FIG. 10A will not produce filtering effect on the passing light beam. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecule in the filter unit is as shown in FIG. 10B, it can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecule is about 30°, so that the filter unit shown in FIG. 10B will produce partial filtering effect on the passing vertical polarized light beam. Further, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecule in the filter unit is as shown in FIG. 10C, it can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecule is 90°, in this case, the filter unit shown in FIG. 10B will produce full filtering effect on the passing vertical polarized light beam. It can be understood that the above FIG. 10A, FIG. 10B and FIG. 10C can be different states of the same filter unit. For example, the filter unit shown in FIG. 10A is in an initial state. For another example, the filter unit shown in FIG. 10C is in an initial state.

[0246] Exemplarily, the dichroic dye is a negative dichroic dye molecule, i.e. the component of the polarized light perpendicular to the long axis is absorbed and the component of the polarized light parallel to the long axis is not absorbed, wherein the long axis and the short axis of the dichroic dye can refer to the description of FIG. 11.

[0247] As shown in FIG. 10A, the direction indicated by the arrow is the direction of light propagation, and the polarized light in each direction is perpendicular to the long axis of the dichroic dye molecules. Therefore, the filter unit shown in FIG. 10A will produce full filtering effect on the vertical direction polarized light beam. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is as shown in FIG. 10B. It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is about 30°, so that the filter unit shown in FIG. 10B will produce partial filtering effect on the vertical direction polarized light beam. Further, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is as shown in FIG. 10C. It can be seen that the light propagation direction and the long axis of the dichroic dye molecules are parallel to each other. In this case, the filter unit shown in FIG. 10B will not produce filtering effect on the light beam.

[0248] As can be known from the above description, the filter units shown in FIGS. 10A-10C can produce filtering effect on the vertical direction polarized light beam. If the filter unit produces filtering effect on the polarized light beam in other directions, the dichroic dye in the filter unit shown in FIG. 10A needs to be controlled to rotate around the light transmission direction. For example, if the filter unit produces filtering effect on the horizontal direction polarized light beam, and the dichroic dye is a positive dichroic dye molecule, the dichroic dye in the filter unit shown in FIG. 10C needs to be controlled to rotate 90° around the light transmission direction.

[0249] Exemplarily, the dichroic dye is a positive dichroic dye molecule, i.e. the polarized light component parallel to the long axis is absorbed, and the polarized light component perpendicular to the long axis is not absorbed. The long axis and the short axis of the dichroic dye can be described with reference to FIG. 11.

[0250] Referring to FIGS. 12A and 12B, FIG. 12A is a front view of the filter unit, and FIG. 12B is a top view of the filter unit. The direction indicated by the arrow is the direction of the light beam propagation, and the polarized light in each direction is perpendicular to the long axis of the dichroic dye molecules in the filter unit. Therefore, the filter unit shown in FIGS. 12A and 12B does not have a filtering effect on the passing light beam. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in FIG. 13A (front view) and FIG. 13B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is about 45°, so that the filter unit shown in FIGS. 13A and 13B has a partial filtering effect on the passing horizontally polarized light beam. Further, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in FIG. 14A (front view) and FIG. 14B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecules is 90°, and in this case, the filter unit shown in FIGS. 14A and 14B has a full filtering effect on the passing horizontally polarized light beam. It can be understood that the above-mentioned FIGS. 12A, 12B, 13A, 13B, 14A and 14B can be different states of the same filter unit. For example, the filter unit shown in FIGS. 12A and 12B is in an initial state. For another example, the filter unit shown in FIGS. 14A and 14B is in an initial state.

[0251] Exemplarily, the dichroic dye is a negative dichroic dye molecule, i.e., the polarized light component perpendicular to the long axis is absorbed, and the polarized light component parallel to the long axis is not absorbed, wherein the long axis and the short axis of the dichroic dye can refer to the description of FIG. 11.

[0252] Please continue to refer to FIG. 12A and FIG. 12B, wherein FIG. 12A is a front view of the filter unit, and FIG. 12B is a top view of the filter unit. The direction indicated by the arrow is the propagation direction of the light beam, and the polarized light in each direction is perpendicular to the long axis of the dichroic dye molecule. Therefore, the filter unit shown in FIG. 12A and FIG. 12B will have a full filtering effect on the horizontal polarized light beam passing through. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in FIG. 13A (front view) and FIG. 13B (top view). It can be seen that the angle between the light propagation direction and the long axis of the dichroic dye molecule is about 45°, so that the filter unit shown in FIG. 13A and FIG. 13B will have a partial filtering effect on the horizontal polarized light beam passing through. Further, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are rotated, as shown in FIG. 14A (front view) and FIG. 14B (top view). It can be seen that the light propagation direction is parallel to the long axis of the dichroic dye molecule. In this case, the filter unit shown in FIG. 14A and FIG. 14B will not have a filtering effect on the light beam passing through. It can be understood that FIG. 12A, FIG. 12B, FIG. 13A, FIG. 13B, FIG. 14A and FIG. 14B described above can be different states of the same filter unit. For example, the filter unit shown in FIG. 12A and FIG. 12B is in an initial state. For another example, the filter unit shown in FIG. 14A and FIG. 14B is in an initial state.

[0253] The filter unit shown in FIG. 10A to FIG. 10C can filter the vertically polarized light beam, and the filter units shown in FIG. 12A, FIG. 12B, FIG. 13A, FIG. 13B, FIG. 14A and FIG. 14B can filter the horizontally polarized light beam. By adjusting the angle at which the dye material is placed in the light beam transmission direction, or directly adjusting the angle at which the filter unit is placed in the light beam transmission direction, the filter unit can filter light beams polarized in other directions. Here, it will not be described one by one.

[0254] Next, the filter unit for realizing intensity filtering provided by the present application will be exemplarily introduced in combination with the drawings.

[0255] Please refer to FIG. 15A and FIG. 15B, wherein FIG. 15A is a front view of the filter unit and FIG. 15B is a top view of the filter unit. As can be seen from FIG. 15A and FIG. 15B, four layers of dichroic dyes are included in the filter unit, and the four layers of dichroic dyes are arranged in the direction of light transmission, as shown in FIG. 16. In combination with the dichroic dyes being positive dichroic dye molecules, it can be known that the filter unit shown in FIG. 15A and FIG. 15B can filter the polarized light beams in multiple directions at the same time, so as to achieve the effect of weakening the overall light intensity of the light beams, i.e. to achieve the effect of light intensity filtering. In combination with the dichroic dyes being negative dichroic dye molecules, it can be known that the long axes of the dichroic dye molecules in the filter unit shown in FIG. 15A and FIG. 15B are parallel to the polarized light in each direction, and therefore the filter unit shown in FIG. 15A and FIG. 15B does not filter the passing light beams.

[0256] Of course, the filter strength can also be controlled by controlling the voltage difference between the two electrode layers, so that the dichroic dye molecules in the filter unit rotate, as shown in FIG. 17A and FIG. 17B, wherein FIG. 17A is a front view of the filter unit and FIG. 17B is a top view of the filter unit. In combination with the dichroic dyes being positive dichroic dye molecules, it can be known that the long axes of the dichroic dye molecules in the filter unit shown in FIG. 17A and FIG. 17B are perpendicular to the polarized light in each direction, and therefore the filter unit shown in FIG. 17A and FIG. 17B does not filter the passing light beams. In combination with the dichroic dyes being positive dichroic dye molecules, it can be known that the long axes of the dichroic dye molecules in the filter unit shown in FIG. 17A and FIG. 17B are perpendicular to the polarized light in each direction, and the filter unit shown in FIG. 17A and FIG. 17B can filter the polarized light beams in multiple directions at the same time, so as to achieve the effect of weakening the overall light intensity of the light beams, i.e. to achieve the effect of light intensity filtering.

[0257] The dichroic dye molecules in the above-mentioned FIG. 15A, FIG. 15B, FIG. 17A and FIG. 17B are positive dichroic dye molecules, and in another possible implementation, the dichroic dye molecules in FIG. 15A, FIG. 15B, FIG. 17A and FIG. 17B can also be negative dichroic dye molecules. It can be understood that in this case, the filter unit shown in FIG. 17A and FIG. 17B does not filter the passing light beams, and the long axes of the dichroic dye molecules in the filter unit shown in FIG. 17A and FIG. 17B are parallel to the polarized light in each direction, and the filter unit shown in FIG. 17A and FIG. 17B can filter the polarized light beams in multiple directions at the same time, so as to achieve the effect of weakening the overall light intensity of the light beams, i.e. to achieve the effect of light intensity filtering.

[0258] It should be noted that the dichroic dye molecules in FIG. 15A, FIG. 15B, FIG. 17A and FIG. 17B all include 4 layers, and in a specific implementation, the number of layers of the dichroic dye molecules is not limited by the present application. For example, the filter unit can include 5, 6 or 7 layers of dichroic dye molecules. It should also be noted that the ellipses including vertical bar stripes in FIG. 15A, FIG. 15B, FIG. 17A and FIG. 17B are used to represent liquid crystal materials, and the ellipses including horizontal bar stripes are used to represent dichroic dyes.

[0259] The above describes the related introduction of the filter unit for implementing polarization filtering or intensity filtering, and next, the filter unit for simultaneously implementing polarization filtering and intensity filtering is exemplarily introduced in combination with the drawings.

[0260] Please refer to FIG. 18A and FIG. 18B, wherein FIG. 18A is a front view of a filter unit, and FIG. 18B is a top view of the filter unit. It can be known from FIG. 18A and FIG. 18B that the filter unit includes two layers, which are respectively used for intensity filtering and polarization filtering. As to the specific implementation of how the two sides in the filter unit implement intensity filtering and polarization filtering, reference can be made to the introduction of the corresponding content described above, which will not be described herein again. Of course, in the filter unit shown in FIG. 18A and FIG. 18B, the filtering degree of polarization filtering or intensity filtering can also be adjusted by applying voltage to the transparent electrode layer, and the specific introduction can be referred to the corresponding content described above, which will not be described herein again.

[0261] In a possible implementation, one filtering layer in the filter unit shown in FIG. 18A and FIG. 18B can be controlled to implement polarization filtering or intensity filtering. Both of the two filtering layers in the filter unit shown in FIG. 18A and FIG. 18B can also be controlled to implement polarization filtering and intensity filtering, which is not limited by the present application.

[0262] Please refer to FIG. 19A and FIG. 19B, wherein FIG. 19A is a front view of a filter unit, and FIG. 19B is a top view of the filter unit. It can be known from FIG. 19A and FIG. 19B that the filter unit includes two layers, which are both used for polarization filtering. As to the specific implementation of how the two sides in the filter unit implement polarization filtering, reference can be made to the introduction of the corresponding content described above, which will not be described herein again. Of course, in the filter unit shown in FIG. 19A and FIG. 19B, the filtering degree of polarization filtering can also be adjusted by applying voltage to the transparent electrode layer, and the specific introduction can be referred to the corresponding content described above, which will not be described herein again.

[0263] In a possible implementation, any one of the filter layers in the filter unit shown in FIGS. 19A and 19B can be controlled to perform polarization filtering, or two of the filter layers in the filter unit shown in FIGS. 19A and 19B can be controlled to perform polarization filtering at the same time, which is not limited in the present application. It can be understood that when two of the filter layers in the filter unit are controlled to perform polarization filtering at the same time, the filter unit shown in FIGS. 19A and 19B can be used to implement the effect of intensity filtering.

[0264] Please refer to FIGS. 20A and 20B, where FIG. 20A is a front view of a filter unit, and FIG. 20B is a top view of the filter unit. It can be known from FIGS. 20A and 20B that the filter unit includes three layers, which are used for polarization filtering, intensity filtering, and polarization filtering in sequence. For the specific implementation of how the two sides of the filter unit implement intensity filtering and polarization filtering, refer to the foregoing introduction of the corresponding content, which is not described here again. Of course, the filtering degree of polarization filtering or intensity filtering in the filter unit shown in FIGS. 20A and 20B can also be adjusted by applying a voltage to the transparent electrode layer, and the specific introduction can refer to the foregoing corresponding content, which is not described here again. Alternatively, the two filter layers for polarization filtering in FIGS. 20A and 20B are used to filter light beams of different polarization directions, for example, to filter light beams of horizontal and vertical directions. Alternatively, the two filter layers for polarization filtering in FIGS. 20A and 20B are used to filter light beams of orthogonal directions. Of course, the present application does not limit which direction of the polarization light beams the two filter layers for polarization filtering in FIGS. 20A and 20B are used to filter. It can be understood that by arranging two filter layers in the filter unit to filter polarization light of different directions, the filtering capability of the filter unit can be improved, thereby meeting various filtering requirements, so that the imaging device can adapt to various sensing scenes, and thus the sensing performance of the imaging device in various scenes is improved.

[0265] Of course, when the filter unit includes a polarization filter layer and an intensity filter layer, the order of the polarization filter layer and the intensity filter layer is not limited in the present application. For example, when the filter unit includes two polarization filter layers, the two polarization filter layers can be located on the two sides of the intensity filter layer, as shown in FIGS. 20A and 20B, or the two polarization filter layers can be adjacent (not shown in the figure).

[0266] The filter units shown in FIGS. 10A-10C for polarization filtering, FIGS. 12A, 12B, 13A, 13B, 14A and 14B for another filter unit for polarization filtering, FIGS. 15A, 15B, 17A and 17B for a filter unit for intensity filtering, FIGS. 18A and 18B for a filter unit capable of being used for both polarization filtering and intensity filtering, FIGS. 19A and 19B for a filter unit including two polarization filtering layers, and FIGS. 20A and 20B for a filter unit including two polarization filtering layers and one intensity filtering layer can be used in the imaging methods shown in FIGS. 5, 6 or 8.

[0267] As can be known from the foregoing description, the various filter units provided by the present application can be in the form of a thin film, and thus can be inlaid in the interior of various lenses or attached to the surface of various lenses to complete various filtering functions. Please refer to FIG. 21, which is a schematic diagram of another application scenario provided by the present application. The scenario shown in FIG. 21 includes a filter unit, a photosensitive unit and a processing unit. The functions performed by the filter unit, the photosensitive unit and the processing unit can refer to the functions performed by the first filter unit, the first photosensitive unit and the processing unit shown in FIGS. 5, 6 or 8. Here, no further description is given. Obviously, in the scenario shown in FIG. 21, the processing unit can control the filter unit to filter the light beam with different filtering parameters, thereby improving the driving experience of the driver. For example, when the processing unit detects that the environment includes strong glare or polarized light, it can control the filter unit to filter the strong glare or polarized light, thereby reducing the interference of the strong glare or polarized light on the driver and improving the driving experience of the driver.

[0268] The foregoing describes the imaging method and the filter unit provided by the present application in an exemplary manner. In order to better understand the imaging device provided by the present application, the functions of the various units / modules of the imaging device in the present application are further described as follows. As shown in FIGS. 4A-4C, the imaging device 30 includes a photosensitive unit 301, a filter unit 302 and a processing unit 303. The photosensitive unit 301 is configured to receive a first light beam and convert the first light beam into a first electrical signal. The processing unit 303 is configured to control the filter unit 302 to filter with a first filtering parameter based on the first electrical signal. The filter unit 302 is configured to filter with the first filtering parameter. The photosensitive unit 301 is further configured to receive a second light beam filtered by the filter unit 302 with the first filtering parameter. Obviously, the photosensitive unit 301, the filter unit 302 and the processing unit 303 in the imaging device 30 form a closed loop, so that the filtering parameter used by the filter unit 302 can be adjusted according to the light beam received by the photosensitive unit 301, and the light beam before being received by the photosensitive unit 301 is filtered in time, thereby improving the sensing performance of the imaging device 30.

[0269] Optionally, the first light beam corresponds to one pixel, or a plurality of pixels.

[0270] Optionally, the imaging device 30 further comprises an imaging unit, the imaging unit being configured to image based on the second light beam.

[0271] In a possible implementation, the first filter parameter is determined by the processing unit 303 based on the first electrical signal.

[0272] In another possible implementation, the processing unit 303 is specifically configured to determine the light intensity and / or the polarization state of the first light beam based on the first electrical signal. The processing unit 303 is specifically configured to determine the first filter parameter based on the light intensity and / or the polarization state of the first light beam. The processing unit 303 is specifically configured to control the filter unit 302 to filter with the first filter parameter.

[0273] In another possible implementation, the first filter parameter comprises a first filter mode and a filter attribute corresponding to the first filter mode. In a case where the first filter mode comprises a polarization filter, the filter attribute corresponding to the first filter mode comprises a polarization direction corresponding to the polarization filter and a degree of attenuation of the light intensity by the polarization filter in the polarization direction. In a case where the first filter mode comprises an intensity filter, the filter attribute corresponding to the first filter mode comprises a degree of attenuation of the light intensity by the intensity filter.

[0274] In another possible implementation, in a case where the light intensity of the first light beam is greater than a first threshold, the first filter mode comprises an intensity filter. In a case where the first light beam comprises polarized light of a first direction, the first filter mode comprises a polarization filter, and the polarization direction corresponding to the polarization filter is the first direction.

[0275] In another possible implementation, the imaging device 30 comprises a first array of light sensing units and a first array of filter units. The first array of light sensing units is, for example, the first array of light sensing units 702 shown in FIG. 7, and the first array of filter units is, for example, the first array of filter units 701 shown in FIG. 7. The light sensing unit 301 is a light sensing unit in the first array of light sensing units, and the filter unit 302 is a filter unit in the first array of filter units. The first array of light sensing units is configured to receive a first set of light beams and convert the first set of light beams into a first set of electrical signals, the first set of light beams comprising the first light beam, and the first set of electrical signals comprising the first electrical signal. The processing unit 303 is specifically configured to control the first array of filter units to filter with a first set of filter parameters based on the first set of electrical signals, the first set of filter parameters comprising the first filter parameter. The first array of filter units is configured to filter with the first set of filter parameters.

[0276] In another possible implementation, the processing unit 303 is specifically configured to determine, based on the first set of electric signals, that the first set of light beams includes an interfering light beam. The processing unit 303 is specifically configured to determine, based on the interfering light beam, the first set of filtering parameters. The processing unit 303 is specifically configured to control the first array of filtering units to filter the light beams with the first set of filtering parameters.

[0277] In another possible implementation, the first set of light beams includes the interfering light beam in a case that the first set of light beams includes a light beam with light intensity greater than a first threshold value, the interfering light beam being the light beam with light intensity greater than the first threshold value in the first set of light beams. And / or, the first set of light beams includes the interfering light beam in a case that an average light intensity in the first set of light beams is greater than a second threshold value. And / or, the first set of light beams includes the interfering light beam in a case that the first set of light beams includes polarized light, the interfering light beam being the polarized light in the first set of light beams.

[0278] In another possible implementation, the processing unit 303 is configured to determine, based on the interfering light beam, a first region of the first array of photosensitive units, the first region being a region of the first array of photosensitive units for receiving the interfering light beam. The processing unit 303 is further configured to determine, based on the first region, the first set of filtering parameters, the first set of filtering parameters being used for filtering the light beams before being received by the first region.

[0279] In another possible implementation, the interfering light beam includes a first light beam, and the photosensitive unit 301 is in the first region.

[0280] In another possible implementation, the first set of filtering parameters further includes a fourth filtering parameter, the first array of filtering units further includes a second filtering unit, the first array of photosensitive units further includes a second photosensitive unit, the second photosensitive unit is configured to receive the light beams filtered by the second filtering unit with the fourth filtering parameter, and the first filtering parameter is different from the fourth filtering parameter.

[0281] In another possible implementation, the filtering unit 302 includes a first filtering layer, the first filtering layer is configured to filter the light beams with a fifth filtering parameter, the fifth filtering parameter includes a fifth filtering manner and a fifth filtering attribute corresponding to the fifth filtering manner, the fifth filtering attribute is adjustable, and the first filtering parameter includes the fifth filtering parameter. Exemplarily, the first filtering layer can be the filtering unit shown in FIGS. 10A to 10C, the filtering unit shown in FIGS. 12A, 12B, 13A, 13B, 14A and 14B, and the filtering unit shown in FIGS. 15A, 15B, 17A and 17B, which are not limited in the present application.

[0282] In another possible implementation, the fifth filtering manner is polarization filtering, and the fifth filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction. For example, when the first filtering layer is the filtering unit shown in FIGS. 10A-10C, the fifth filtering manner is polarization filtering, and the fifth filtering attribute includes that the polarization direction corresponding to the polarization filtering is a vertical direction, and the degree of light intensity attenuation of the polarization filtering is adjustable. For example, the degree of light intensity attenuation is 30% or 80%, etc. For another example, when the first filtering layer is the filtering unit shown in FIGS. 12A, 12B, 13A, 13B, 14A, and 14B, the fifth filtering manner is polarization filtering, and the fifth filtering attribute includes that the polarization direction corresponding to the polarization filtering is a horizontal direction, and the degree of light intensity attenuation of the polarization filtering is adjustable. For example, the degree of light intensity attenuation is 30% or 80%, etc. In the above implementation, when the first filtering manner is polarization filtering, the first filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation of the polarization filtering, so that the filtering unit 302 can be used to filter polarized light in each direction, and the degree of light intensity attenuation is adjustable.

[0283] In another possible implementation, the fifth filtering manner is intensity filtering, and the fifth filtering attribute is used to indicate a degree of light intensity attenuation of the intensity filtering. The polarization filtering is used to attenuate light intensity of the light beam in the polarization direction, and the intensity filtering is used to attenuate light intensity of the light beam. For example, when the first filtering layer is the filtering unit shown in FIGS. 15A, 15B, 17A, and 17B, the fifth filtering manner is intensity filtering, and the fifth filtering attribute includes that the degree of light intensity attenuation of the intensity filtering is adjustable. For example, the degree of light intensity attenuation is 30% or 80%, etc. In the above implementation, when the first filtering manner is intensity filtering, the first filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering, so that the filtering unit 302 can adjust the light intensity of the light beam received by the photosensitive unit 301 to a suitable intensity.

[0284] In another possible implementation, the filtering unit 302 further includes a second filtering layer, the second filtering layer is used to filter the light beam with a sixth filtering parameter, the sixth filtering parameter includes a sixth filtering manner and a sixth filtering attribute corresponding to the sixth filtering manner, and the sixth filtering attribute is adjustable. The fifth filtering manner is different from the sixth filtering manner, and / or the fifth filtering attribute is different from the sixth filtering attribute. The first filtering parameter includes the sixth filtering parameter.

[0285] The fifth filtering mode is different from the sixth filtering mode, and / or the fifth filtering attribute is different from the sixth filtering attribute. For example, the fifth filtering mode is polarization filtering, and the sixth filtering mode is intensity filtering, or the fifth filtering mode is intensity filtering, and the sixth filtering mode is polarization filtering, or the fifth filtering mode and the sixth filtering mode are both polarization filtering, but the fifth filtering attribute and the sixth filtering attribute are used to indicate different directions of the polarization filtering (for example, the fifth filtering attribute indicates horizontal polarization filtering, and the sixth filtering attribute indicates vertical polarization filtering), or the fifth filtering mode and the sixth filtering mode are both intensity filtering, but the fifth filtering attribute and the sixth filtering attribute are used to indicate different degrees of light intensity attenuation of the intensity filtering (for example, the fifth filtering attribute indicates that the degree of light intensity attenuation of the intensity filtering is 30%, and the sixth filtering attribute indicates that the degree of light intensity attenuation of the intensity filtering is 70%). In summary, the first filtering layer and the second filtering layer are used to realize different filtering functions, which also enables the filtering unit 302 to realize more abundant filtering functions, so as to better adapt to the filtering needs of various scenes, thereby reducing the interference light beams received by the photosensitive unit 301, and further improving the sensing performance of the imaging device 30.

[0286] In another possible implementation, the sixth filtering mode is polarization filtering, and the sixth filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation of the polarization filtering in the polarization direction. For specific implementation, reference can be made to the foregoing description of the fifth filtering mode being polarization filtering.

[0287] In another possible implementation, the sixth filtering mode is intensity filtering, and the sixth filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering. The polarization filtering is used to attenuate the light intensity of the light beam in the polarization direction, and the intensity filtering is used to attenuate the light intensity of the light beam. For specific implementation, reference can be made to the foregoing description of the fifth filtering mode being intensity filtering.

[0288] In another possible implementation, the filtering unit 302 further includes a third filtering layer, the third filtering layer is used to filter the light beam with a seventh filtering parameter, the seventh filtering parameter includes a seventh filtering mode and a seventh filtering attribute corresponding to the seventh filtering mode, the seventh filtering attribute is adjustable, and the first filtering parameter includes the seventh filtering parameter. For the introduction of the third filtering layer, reference can be made to the foregoing introduction of the first filtering layer, which will not be described herein again.

[0289] In another possible implementation, the fifth filtering mode and the seventh filtering mode are both polarization filtering, and the polarization direction corresponding to the fifth filtering mode is different from the polarization direction corresponding to the seventh filtering mode. The sixth filtering mode is intensity filtering. The polarization filtering is used to attenuate the light intensity of the light beam in the polarization direction corresponding to the polarization filtering, and the intensity filtering is used to attenuate the light intensity of the light beam. For example, the first filter layer is the filter unit shown in FIGS. 10A-10C, the second filter layer is the filter unit shown in FIGS. 15A, 15B, 17A, and 17B, and the third filter layer is the filter unit shown in FIGS. 12A, 12B, 13A, 13B, 14A, and 14B. Alternatively, the filter unit obtained by combining the first filter layer, the second filter layer, and the third filter layer is, for example, the filter unit shown in FIGS. 20A and 20B. The above implementation enables the filter unit 302 to simultaneously implement polarization filtering and intensity filtering, and also enables the filter unit 302 to filter polarized light in different directions. Thus, the filter unit 302 can meet the filtering requirements in various scenarios, thereby improving the sensing performance of the imaging apparatus 30 in various scenarios.

[0290] In another possible implementation, the fifth filtering mode and the seventh filtering mode are both polarization filtering, and the polarization direction corresponding to the fifth filtering mode is orthogonal to the polarization direction corresponding to the seventh filtering mode. For example, the polarization direction corresponding to the fifth filtering mode is the vertical direction, and the polarization direction corresponding to the seventh filtering mode is the horizontal direction.

[0291] It can be understood that the filter unit 302 described above belongs to the first filter unit array, and each filter unit in the first filter unit array has the functions of the filter unit 302 described above.

[0292] In another possible implementation, the first filter unit includes one or more of guest-host effect liquid crystal GHLC, metasurface, and one or more of suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device, or electrochromic device. Correspondingly, the first filter unit array also includes one or more of guest-host effect liquid crystal GHLC, metasurface, and one or more of suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device, or electrochromic device.

[0293] The beneficial effects of some of the above implementations of the imaging apparatus 30 can be referred to the descriptions of the corresponding contents in FIGS. 5, 6, or 8, which are not repeated here. Of course, the imaging apparatus 30 described above can also be applied to the imaging methods shown in FIGS. 5, 6, or 8.

[0294] In a possible implementation, the imaging device 30 can also be applied to a detection system, for example, a laser radar. The detection system includes a transmitting system and a receiving system. The transmitting system is configured to transmit a detection light beam. The receiving system includes the imaging device 30 and is capable of performing the imaging method shown in FIG. 5, FIG. 6, or FIG. 8. For example, the transmitting system is configured to transmit a first detection light beam or a second detection light beam, and the receiving system is configured to receive a first return light beam or a second return light beam. The first return light beam is the first light beam, and the second return light beam is the second light beam.

[0295] Optionally, the processing unit in the receiving system is configured to process the first return light beam or the second return light beam. For example, the processing unit processes the first return light beam to control the filtering unit in the receiving system to perform filtering with the first filtering parameter. The processing unit processes the second return light beam to generate a detection result.

[0296] The application also provides a terminal including the imaging device 30 shown in FIG. 4A to FIG. 4C, or the detection system.

[0297] Optionally, the terminal can be a smart terminal or a transportation tool such as a camera, a camera, a vehicle, a drone, a robot, or an industrial device. It should be understood that the terminal involved in the application can include a smart terminal or a transportation tool such as a vehicle, a robot, a drone, a ship, a ship, etc. The vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), etc. For example, the robot can be an automated guided vehicle (AGV), a walkable conversational robot, a service robot, etc. The industrial device is, for example, an industrial robot, a mechanical arm, etc. The leisure and entertainment device is, for example, a virtual reality (VR) device, a mixed reality (MR) device, or a 4D cinema cabin, etc.

[0298] Optionally, the imaging device 30 can be installed in various positions, for example, on the platform of the dashboard of the vehicle, on the top of the cabin, or on one or more positions in the head, side, or tail of the vehicle.

[0299] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program or computer instructions, and the computer program or computer instructions are executed by a processor to implement the method implemented by the imaging device in the above-mentioned Figure 5, Figure 6 or Figure 8 and possible embodiments thereof.

[0300] The embodiment of the present application further provides a computer program product, when the computer program product is read and executed by a computer, the method implemented by the imaging device in the above-mentioned Figure 5, Figure 6 or Figure 8 and possible embodiments thereof will be executed.

[0301] In the description of the present application, the terms "center", "upper", "lower", "vertical", "horizontal", "left", "right", "inner", "outer", "side" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. It should be understood that the Z direction, Y direction, X direction and the like mentioned in some embodiments of the present application are taken as a reference in the XYZ rectangular coordinate system to facilitate the description of the features in the present solution, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation.

[0302] In the embodiments of the present application, the words "exemplarily" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplarily" or "for example" are intended to present the relevant concept in a specific manner.

[0303] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b or c can represent a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0304] And, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority or importance of the multiple objects.

Claims

1. An imaging method applied to an imaging apparatus, characterized by, The imaging device comprises a first light sensing unit, a processing unit and a first filter unit, and the method comprises: receiving, by the first light sensing unit, a first light beam and converting the first light beam into a first electrical signal; controlling, by the processing unit based on the first electrical signal, the first filter unit to filter with a first filter parameter; receiving, by the first light sensing unit, a second light beam filtered by the first filter unit with the first filter parameter.

2. The method of claim 1, wherein, The first filter parameter is determined based on the first electrical signal.

3. The method according to claim 1 or 2, characterized in that, The controlling, by the processing unit based on the first electrical signal, the first filter unit to filter with a first filter parameter comprises: determining, by the processing unit based on the first electrical signal, an intensity and / or a polarization state of the first light beam; determining, by the processing unit based on the intensity and / or the polarization state of the first light beam, the first filter parameter; controlling, by the processing unit, the first filter unit to filter with the first filter parameter.

4. The method of claim 3, wherein, The first filter parameter comprises a first filter mode and a filter attribute corresponding to the first filter mode; in a case where the first filter mode comprises a polarization filter, the filter attribute corresponding to the first filter mode comprises a polarization direction corresponding to the polarization filter and a degree of intensity attenuation of the polarization filter in the polarization direction; and / or in a case where the first filter mode comprises an intensity filter, the filter attribute corresponding to the first filter mode comprises a degree of intensity attenuation of the intensity filter.

5. The method of claim 4, wherein in a case where the intensity of the first light beam is greater than a first threshold, the first filter mode comprises an intensity filter; and / or in a case where the first light beam comprises polarized light of a first direction, the first filter mode comprises a polarization filter, and the polarization direction corresponding to the polarization filter is the first direction.

6. The method according to any one of claims 1 to 5, characterized in that, The imaging device comprises a first light sensing unit array and a first filter unit array, the first light sensing unit is a light sensing unit in the first light sensing unit array, and the first filter unit is a filter unit in the first filter unit array; The receiving, by the first light sensing unit, a first light beam and converting the first light beam into a first electrical signal comprises: receiving, by the first light sensing unit array, a first light beam set and converting the first light beam set into a first electrical signal set, the first light beam set comprising the first light beam, and the first electrical signal set comprising the first electrical signal; The controlling, by the processing unit based on the first electrical signal, the first filter unit to filter with a first filter parameter comprises: controlling, by the processing unit based on the first electrical signal set, the first filter unit array to filter with a first filter parameter set, the first filter parameter set comprising the first filter parameter.

7. The method of claim 6, wherein, The controlling, by the processing unit based on the first electrical signal set, the first filter unit array to filter with a first filter parameter set comprises: determining, by the processing unit based on the first electrical signal set, that the first light beam set comprises an interference light beam. determining, by the processing unit, the first filter parameter set based on the interference light beam; controlling, by the processing unit, the first filter unit array to filter with the first filter parameter set.

8. The method of claim 7, wherein, determining, by the processing unit, that the first light beam set includes an interference light beam based on the first electrical signal set includes: in a case where the processing unit determines that the first light beam set includes a light beam with light intensity greater than a first threshold based on the first electrical signal set, the first light beam set includes an interference light beam, the interference light beam being the light beam in the first light beam set with light intensity greater than the first threshold; and / or, in a case where the processing unit determines that an average light intensity in the first light beam set is greater than a second threshold based on the first electrical signal set, the first light beam set includes an interference light beam; and / or, in a case where the processing unit determines that the first light beam set includes polarized light based on the first electrical signal set, the first light beam set includes an interference light beam, the interference light beam being the polarized light in the first light beam set.

9. The method according to claim 7 or 8, characterized in that, determining, by the processing unit, the first filter parameter set based on the interference light beam includes: determining, by the processing unit, a first region of the first photosensitive unit array based on the interference light beam, the first region being a region of the first photosensitive unit array for receiving the interference light beam; determining, by the processing unit, the first filter parameter set based on the first region, the first filter parameter set being used for filtering light beams before being received by the first region.

10. The method of claim 9, wherein, the interference light beam includes the first light beam, and the first photosensitive unit is in the first region.

11. The method according to claim 9 or 10, characterized in that, the first region includes a second region and a third region, the second region and the third region are mutually exclusive, the first photosensitive unit is in the second region, and a second photosensitive unit is in the third region; the first filter parameter set further includes a second filter parameter, the second filter parameter being used for filtering light beams before being received by the second photosensitive unit, and the second filter parameter is different from the first filter parameter.

12. The method according to any one of claims 6-11, characterized in that, receiving, by the first photosensitive unit array, a second light beam set filtered by the first filter unit array with the first filter parameter set, the second light beam set including the second light beam. the first filter unit includes one or more of guest-host liquid crystal (GHLC), metasurface, and one or more selected from suspended particle device (SPD), polymer dispersed liquid crystal (PDLC), polymer network liquid crystal (PNLC), photochromic device, or electrochromic device.

13. The method according to any one of claims 1 to 12, characterized in that, the imaging device includes a first photosensitive unit, a processing unit, and a first filter unit; 14. An imaging device, characterized by the first photosensitive unit is configured to receive a first light beam and convert the first light beam into a first electrical signal; the processing unit is configured to control the first filter unit to filter with a first filter parameter based on the first electrical signal; the first photosensitive unit is configured to receive a second light beam filtered by the first filter unit with the first filter parameter. ​ 15. The apparatus of claim 14, wherein the processing unit is specifically configured to determine, based on the first electrical signal, an intensity and / or a polarization state of the first light beam.

16. The apparatus of claim 15, wherein the processing unit is specifically configured to determine the first filter parameter based on the intensity and / or the polarization state of the first light beam.

17. The apparatus of claim 16, wherein the processing unit is specifically configured to control the first filter unit to filter with the first filter parameter.

18. The apparatus of claim 1, wherein the imaging device comprises a first array of light sensing units and a first array of filter units, the first light sensing unit is a light sensing unit in the first array of light sensing units, and the first filter unit is a filter unit in the first array of filter units.

16. The apparatus of claim 14 or 15, wherein, 19. The apparatus of claim 18, wherein the first array of light sensing units is configured to receive a first set of light beams including the first light beam and convert the first set of light beams into a first set of electrical signals including the first electrical signal.

20. The apparatus of claim 19, wherein the processing unit is specifically configured to control the first array of filter units to filter with a first set of filter parameters including the first filter parameter based on the first set of electrical signals.

21. The apparatus of claim 20, wherein the first set of filter parameters further comprises a second filter parameter, the first array of filter units further comprises a second filter unit, and the first array of light sensing units further comprises a second light sensing unit configured to receive a light beam filtered by the second filter unit with the second filter parameter; and the first filter parameter is different from the second filter parameter.

17. The apparatus of claim 16, wherein, 22. The apparatus of claim 1, wherein the first filter unit comprises a first filter layer configured to filter a light beam with a third filter parameter including a first filter mode and a first filter attribute corresponding to the first filter mode, and the first filter attribute is adjustable.

18. The apparatus of any of claims 14-17, wherein, 23. The apparatus of claim 22, wherein the first filter parameter comprises the third filter parameter.

24. The apparatus of claim 1, wherein the first filter mode is a polarization filter mode, and the first filter attribute is configured to indicate a polarization direction corresponding to the polarization filter mode and a degree of intensity attenuation of the polarization filter in the polarization direction; or the first filter mode is an intensity filter mode, and the first filter attribute is configured to indicate a degree of intensity attenuation of the intensity filter.

25. The apparatus of claim 24, wherein the polarization filter is configured to attenuate an intensity of a light beam in the polarization direction, and the intensity filter is configured to attenuate an intensity of a light beam.

26. The apparatus of claim 1, wherein the first filter unit further comprises a second filter layer configured to filter a light beam with a fourth filter parameter including a second filter mode and a second filter attribute corresponding to the second filter mode, and the second filter attribute is adjustable.

27. The apparatus of claim 26, wherein the first filter mode is different from the second filter mode, and / or the first filter attribute is different from the second filter attribute.

20. The apparatus of claim 18 or 19, wherein, 28. The apparatus of claim 26, wherein the first filter parameter comprises the fourth filter parameter.

29. The apparatus of claim 1, wherein the imaging device further comprises a second array of light sensing units and a second array of filter units, the second light sensing unit is a light sensing unit in the second array of light sensing units, and the second filter unit is a filter unit in the second array of filter units.

30. The apparatus of claim 29, wherein the second array of light sensing units is configured to receive a second set of light beams and convert the second set of light beams into a second set of electrical signals.

31. The apparatus of claim 30, wherein the processing unit is specifically configured to control the second array of filter units to filter with a second set of filter parameters based on the second set of electrical signals.

32. The apparatus of claim 31, wherein the second set of filter parameters further comprises a third filter parameter, the second array of filter units further comprises a third filter unit, and the second array of light sensing units further comprises a third light sensing unit configured to receive a light beam filtered by the third filter unit with the third filter parameter; and the third filter parameter is different from the first filter parameter.

33. The apparatus of claim 32, wherein the first filter unit further comprises a third filter layer configured to filter a light beam with a fifth filter parameter including a third filter mode and a third filter attribute corresponding to the third filter mode, and the third filter attribute is adjustable.

34. The apparatus of claim 33, wherein the first filter parameter comprises the fifth filter parameter.

35. The apparatus of claim 1, wherein the imaging device further comprises a third array of light sensing units and a third array of filter units, the third light sensing unit is a light sensing unit in the third array of light sensing units, and the third filter unit is a filter unit in the third array of filter units.

36. The apparatus of claim 35, wherein the third array of light sensing units is configured to receive a third set of light beams and convert the third set of light beams into a third set of electrical signals.

37. The apparatus of claim 36, wherein the processing unit is specifically configured to control the third array of filter units to filter with a third set of filter parameters based on the third set of electrical signals.

38. The apparatus of claim 37, wherein the third set of filter parameters further comprises a fourth filter parameter, the third array of filter units further comprises a fourth filter unit, and the third array of light sensing units further comprises a fourth light sensing unit configured to receive a light beam filtered by the fourth filter unit with the fourth filter parameter; and the fourth filter parameter is different from the first filter parameter.

39. The apparatus of claim 38, wherein the first filter unit further comprises a fourth filter layer configured to filter a light beam with a sixth filter parameter including a fourth filter mode and a fourth filter attribute corresponding to the fourth filter mode, and the fourth filter attribute is adjustable.

40. The apparatus of claim 39, wherein the first filter parameter comprises the sixth filter parameter. The second filtering mode is polarization filtering, and the second filtering attribute is used to indicate a polarization direction corresponding to the polarization filtering and a degree of light intensity attenuation of the polarization filtering in the polarization direction; or the second filtering mode is intensity filtering, and the second filtering attribute is used to indicate a degree of light intensity attenuation of the intensity filtering. The polarization filtering is used to attenuate light intensity of the light beam in the polarization direction, and the intensity filtering is used to attenuate light intensity of the light beam.

22. The apparatus of claim 20 or 21, wherein, The first filtering unit further comprises a third filtering layer, the third filtering layer is used to filter the light beam with a fifth filtering parameter, the fifth filtering parameter comprises a third filtering mode and a third filtering attribute corresponding to the third filtering mode, and the third filtering attribute is adjustable; the first filtering parameter comprises the fifth filtering parameter; The first filtering mode and the third filtering mode are both polarization filtering, a polarization direction corresponding to the first filtering mode is different from a polarization direction corresponding to the third filtering mode, and the second filtering mode is intensity filtering. The polarization filtering is used to attenuate light intensity of the light beam in the polarization direction corresponding to the polarization filtering, and the intensity filtering is used to attenuate light intensity of the light beam.

23. The apparatus of claim 22, wherein, The first filtering mode and the third filtering mode are both polarization filtering, a polarization direction corresponding to the first filtering mode is orthogonal to a polarization direction corresponding to the third filtering mode.

24. The apparatus of any of claims 14-23, wherein, The device further comprises a lens combination; the first filtering unit and the lens combination are both arranged on a light-receiving surface side of the first light-receiving unit; The first filtering unit is arranged between the first light-receiving unit and the lens combination; or the lens combination is arranged between the first light-receiving unit and the first filtering unit; or the first filtering unit is arranged inside the lens combination.

25. The apparatus of any of claims 14-24, wherein, The first filtering unit comprises one or more of guest-host effect liquid crystal (GHLC), metasurface, and one or more of suspended particle device (SPD), polymer dispersed liquid crystal (PDLC), polymer network liquid crystal (PNLC), photochromic device, or electrochromic device.

26. An imaging device, comprising: A module or unit for performing the method of any one of claims 1-13.

27. An imaging device, comprising: A device comprising: a processor; a memory storing a computer program or instructions, wherein the computer program or instructions, when invoked by the processor, cause the method of any one of claims 1-13 to be performed.

28. A vehicle end characterized by, The vehicle end comprises the imaging device of any one of claims 14-25, or the imaging device of any one of claims 26-27.

29. A computer-readable storage medium, characterized in that, The computer readable storage medium is used to store a computer program, the computer program is executed, and the method of any one of claims 1-13 is executed.

30. A computer program product, characterised in that, The computer program product comprises instructions, when the instructions are executed by the processor, so that the method according to any one of claims 1-13 is realized.

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