First color cast correction device, color cast correction method, and related product

Abstract

A first color cast correction device, a color cast correction method, and a related product, applied to the technical field of color cast correction. In the present application, the first color cast correction device comprises a color cast correction assembly and a first connecting member, wherein the first connecting member comprises a first side, a second side, and a third side. The first color cast correction device is applied to a first vehicle, wherein the first vehicle comprises a windshield, a light shield, and a first camera, the first camera is used for photographing an environment outside the first vehicle through the windshield, and the light shield is used for shading the first camera. When the first side is fixedly connected to an inner wall of the light shield of the first vehicle, the second side is fixedly connected to the windshield of the first vehicle, and the color cast correction assembly is fixedly connected to the third side, the first camera can photograph an environment outside the first vehicle and the color cast correction assembly under the same environment, and thus color cast correction is performed on the environment outside the first vehicle on the basis of the color cast correction assembly, thereby reducing color cast.

Description

A first color deviation correction device, a color deviation correction method, and related products Technical Field

[0001] This application relates to the field of color deviation correction technology, and in particular to a first color deviation correction device, a color deviation correction method, and related products. Background Technology

[0002] By deploying cameras on vehicles to capture images of the external environment, the resulting images can be used to record driving information or for advanced driving assistance systems (ADAS) to determine driving strategies based on these images. The colors in the captured images are related to the color temperature of the environment at the time of capture. Since the color temperature of the environment varies at different times, the colors in the captured images are affected by the ambient color temperature, resulting in color shifts. This can lead to errors in the recorded driving information or inaccuracies in the driving strategies determined by ADAS based on the images. Therefore, it is necessary to correct the color shifts in the captured images.

[0003] Current technology determines correction information for multiple different color temperatures by calibrating the color cast correction component. Then, based on the correction information of the calibrated color temperatures that are similar to the color temperature at which the image was captured, the correction information for the image is determined, and the color cast of the image can be corrected based on this correction information.

[0004] However, due to the difference between the environment in which the color shift correction component is calibrated and the environment in which the image is captured, the color shift of the corrected image obtained based on this technique is relatively large. Summary of the Invention

[0005] This application provides a first color cast correction device, a color cast correction method, and related products. When the first color cast correction device is applied to a first vehicle, part or all of the color cast correction component of the first color cast correction device can be located within the shooting range of the first camera of the first vehicle. This allows the first camera to simultaneously capture images of the environment outside the first vehicle and the color cast correction component, ensuring that the environment captured is the same as the environment captured by the color cast correction component. Therefore, correcting the color cast of the environment outside the first vehicle based on the color cast correction component can reduce the color cast.

[0006] In a first aspect, a first color shift correction device is provided, applied to a first vehicle, the first vehicle including a windshield, a sun visor and a first camera, the sun visor being fixedly connected to the windshield; the first color shift correction device includes a color shift correction component and a first connector.

[0007] The first side of the first connector is fixedly connected to the inner wall of the sunshade, the second side of the first connector is fixedly connected to the windshield, and the third side of the first connector is fixedly connected to the color shift correction component.

[0008] The sunshade is used to block the light from the first camera, which is used to capture images of the environment outside the first vehicle through the windshield. Part or all of the color shift correction component is located within the shooting range of the first camera.

[0009] In this embodiment, the first vehicle includes a windshield, a sunshade, and a first camera. The first camera is used to capture images of the environment outside the first vehicle through the windshield, and the sunshade is used to shield the first camera from light. Optionally, the windshield includes the front windshield of the first vehicle, and the first camera is used to capture images of the area in front of the first vehicle through the front windshield. A housing is installed on top of the front windshield, and the housing includes the first camera and sensing sensors, including a global positioning system (GPS) sensor and a lidar. In this case, the first camera is installed inside the housing and can capture images of the environment outside the windshield through the space inside the housing. The inner wall of the housing serves to shield the first camera from light; that is, the inner wall of the housing acts as a sunshade.

[0010] The first color cast correction device includes a color cast correction component and a first connector. The color cast correction component includes a known actual color (e.g., the known actual color is gray), thus allowing the calibration of imaging information when the image color is this known actual color. Furthermore, based on the deviation between the calibrated imaging information and the imaging information of the color cast correction component in the image, it is possible to determine the color to be corrected to the known actual color. The first connector includes three sides: a first side, a second side, and a third side, which are respectively fixed to the inner wall of the sun visor of the first vehicle, the windshield of the first vehicle, and the color cast correction component. Specifically, the first side is fixed to the inner wall of the sun visor, the second side is fixed to the windshield, and the third side is fixed to the color cast correction component. When the first color cast correction device is applied to the first vehicle, the first side, the second side, and the third side are fixed to the inner wall of the sun visor, the windshield, and the color cast correction component, respectively.

[0011] By fixing the first side, second side, and third side to the inner wall of the sun visor, the windshield, and the color shift correction component, respectively, the first color shift correction device can be positioned within the space formed by the windshield and the inner wall of the sun visor. This ensures that when the first camera captures images of the environment outside the vehicle through the windshield, the first color shift correction device is within the camera's field of view. With the first color shift correction device within the camera's field of view, fixing the color shift correction component to the third side allows some or all of the color shift correction component to be positioned within the camera's field of view.

[0012] When part or all of the color shift correction component of the first color shift correction device is located within the shooting range of the first camera of the first vehicle, the first camera can simultaneously capture images of the color shift correction component while capturing images of the environment outside the first vehicle, thereby ensuring that the environment captured is the same as the environment captured by the color shift correction component. In this way, color shift can be reduced by correcting the color shift of the environment outside the first vehicle based on the color shift correction component.

[0013] In one possible implementation, the reflective surface of the color shift correction component forms a first angle with the main optical axis of the first camera.

[0014] In this embodiment, the reflective surface is a surface used to reflect light. The reflective surface forms a first angle with the main optical axis of the first camera, indicating that the reflective surface is not parallel to the main optical axis of the first camera. This increases the amount of light reflected into the first camera by the reflective surface of the color shift correction component.

[0015] In one possible implementation, the first included angle is greater than 0 degrees and less than 90 degrees. This increases the amount of light reflected into the first camera by the reflective surface of the color shift correction component.

[0016] In one possible implementation, the first side of the first connector and the second side of the first connector form a second included angle.

[0017] When the first color shift correction device is applied to the first vehicle, the second angle between the first side and the second side is the same as the angle between the windshield and the inner wall of the sun visor. Therefore, when the first camera is located within the space formed by the inner wall of the sun visor, the second angle between the windshield and the inner wall of the sun visor reduces the obstruction of the sun visor's inner wall from the first camera's capture, thereby reducing the limitation on the first camera's capture range and allowing the first camera to capture more information.

[0018] In one possible implementation, a first side of the first connector is fixedly connected to the inner wall of the sunshade by a first adhesive element or a first fastener. This allows the first side to be fixedly connected to the inner wall of the sunshade.

[0019] In one possible implementation, the second side of the first connector is fixedly connected to the windshield via a second adhesive member. This allows the second side to be fixedly connected to the windshield.

[0020] In one possible implementation, the color shift correction component is fixedly connected to a third side of the first connector via at least one second fastener. This allows the third side to be fixedly connected to the color shift correction component.

[0021] In one possible implementation, the second fastener is located at the edge region of the color shift correction component. This reduces the obstruction of the central region of the color shift correction component by the second fastener, thereby reducing the impact of the second fastener on the imaging of the color shift correction component.

[0022] In one possible implementation, the actual color of the color shift correction component includes gray. Since gray is a neutral color and accurately reflects lighting conditions, correcting the color shift of an image based on the color shift correction component when its actual color includes gray can improve the accuracy of the correction.

[0023] In one possible implementation, the reflectance of the color shift correction component is 18%. Since the average reflectance of the object obtained through statistics is 18%, the accuracy of the correction can be improved by correcting the color shift of the image based on the color shift correction component 401 when the reflectance of the color shift correction component is 18%.

[0024] In one possible implementation, the windshield comprises the front windshield of the first vehicle. In this case, the first camera can capture images of the external environment of the vehicle through the windshield; that is, the first camera is used to capture images of the environment in front of the first vehicle. The image captured by the first camera includes the environment in front of the first vehicle and a color shift correction component. Thus, the color shift correction component can be used to correct the color shift of the environment in front of the first vehicle.

[0025] In one possible implementation, the first camera includes a wide-angle camera, and the color shift correction component is located in the vignetting area of ​​the wide-angle camera.

[0026] In this embodiment, the shooting range of the wide-angle camera includes both vignetting and non-vignetting areas. When the captured information is located within the vignetting area, the information is positioned within the vignetting area in the image captured by the first camera. Therefore, when the color shift correction component is located within the vignetting area of ​​the wide-angle camera, the vignetting area of ​​the wide-angle camera can be fully utilized, thereby reducing the occlusion of information in the non-vignetting area by the color shift correction component.

[0027] Secondly, a color cast correction method is provided, the method including:

[0028] Acquire a first image, which includes a first region and a second region, wherein the first region includes imaging information of the color shift correction component;

[0029] The first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component.

[0030] Based on the first correction information, the imaging information of the second region is corrected to obtain the second image.

[0031] In this embodiment of the application, the color cast correction method in the second aspect can be applied to a second color cast correction device, wherein the second color cast correction device can be any electronic device that can implement the color cast correction method by a processor executing computer program code. Optionally, the second color cast correction device includes an image signal processing (ISP) chip.

[0032] The first image includes a first region and a second region. The first region includes the imaging information of the color shift correction component. After acquiring the first image, the image processing device determines first correction information based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component. This allows the acquisition of color temperature correction information for when the color shift correction component was captured. Since the image content in the first image was captured under the same environment, and both the color shift correction component and the second region are image content from the first image, the environment when capturing the color shift correction component is the same as the environment when capturing the second region. Therefore, the color temperature when capturing the color shift correction component is the same as the color temperature when capturing the second region. Accordingly, the first correction information is the color temperature correction information for when capturing the second region. Thus, the color shift correction device corrects the imaging information of the second region based on the first correction information to obtain the second image, thereby reducing the color shift of the second image.

[0033] In one possible implementation, the second area includes the environment outside the first vehicle;

[0034] After obtaining the second image, the method also includes:

[0035] Based on the second image, information is obtained to determine the driving strategy of the first vehicle.

[0036] In this embodiment, the information used to determine the driving strategy of the first vehicle includes the colors of traffic lights and road markings. Since the second image is a color-shifted image, the second color shift correction device obtains the information used to determine the driving strategy of the first vehicle based on the second image, thereby improving the accuracy of the information used to determine the driving strategy of the first vehicle.

[0037] In one possible implementation, before correcting the imaging information of the second region based on the first correction information to obtain the second image, the method further includes:

[0038] Based on automatic white balance (AWB), determine the second correction information for the first region;

[0039] Based on the first correction information, the imaging information of the second region is corrected to obtain a second image, including:

[0040] The first correction information and the second correction information are fused to obtain the third correction information;

[0041] Based on the third correction information, the imaging information of the second region is corrected to obtain the second image.

[0042] In this implementation, AWB can be implemented using any AWB algorithm. Optionally, the AWB algorithm used to implement AWB includes: grayscale world algorithm, perfect reflection method, etc. Optionally, the second color shift correction device includes an ISP chip, and the AWB is the AWB executed by the ISP.

[0043] After determining the second correction information based on AWB, the second color shift correction device fuses the first and second correction information to obtain the third correction information. This reduces the error of the first correction information using AWB, thereby improving the accuracy of the third correction information. Then, based on the third correction information, the imaging information of the second region is corrected to obtain the second image, which improves the correction effect and reduces the color shift of the second image.

[0044] In one possible implementation, before fusing the first correction information and the second correction information to obtain the third correction information, the color cast correction method further includes:

[0045] Based on the first brightness of the color shift correction component in the first image, the weight of the first correction information is determined, and the weight is positively correlated with the first brightness.

[0046] The first correction information and the second correction information are fused to obtain the third correction information, which includes:

[0047] Based on the weights, the first correction information and the second correction information are weighted and fused to obtain the third correction information.

[0048] The brighter the environment when the color shift correction component is captured, the richer the color information of the image captured by the component in the first image. In this case, the accuracy of the first correction information determined based on the image color of the component in the first image is higher. Correspondingly, when weighting and fusing the first and second correction information, the weight of the first correction information can be larger, thus improving the accuracy of the third correction information obtained through weighted fusion. Furthermore, since a brighter image indicates a brighter environment when the image was captured, a brighter color shift correction component in the first image indicates a higher accuracy of the first correction information, and consequently, a larger weight for the first correction information. Therefore, by determining the weight of the first correction information based on the first brightness, following the principle that the weight is positively correlated with the first brightness of the color shift correction component in the first image, the accuracy of the weight of the first correction information can be improved. Then, by weighting and fusing the first and second correction information based on the weight of the first correction information to obtain the third correction information, the accuracy of the third correction information can be improved.

[0049] In one possible implementation, first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component, including:

[0050] When the second brightness of the environment during the imaging of the first image is greater than or equal to a brightness threshold, first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component.

[0051] The higher the brightness when the color shift correction component is captured, the richer the color information of the image formed by the color shift correction component, and correspondingly, the higher the accuracy of the first correction information. Therefore, when the second brightness of the environment during the first image formation by the second color shift correction device is greater than or equal to a brightness threshold, determining the first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component can improve the accuracy of the first correction information.

[0052] In one possible implementation, before determining the first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component, when the first brightness of the environment during the imaging of the first image is greater than or equal to a brightness threshold, the color shift correction method further includes:

[0053] A second brightness is determined based on the first brightness in the first image using a color shift correction component, and the first brightness is positively correlated with the second brightness.

[0054] The greater the brightness of an image, the greater the brightness of the environment when the image was captured. Therefore, the second color shift correction device can determine the second brightness based on the principle that the first brightness and the second brightness are positively correlated, thereby improving the accuracy of the second brightness.

[0055] In one possible implementation, before determining the first correction information based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component, the color shift correction method further includes:

[0056] The imaging color of the color shift correction component is determined based on the color of the region at the first position in the first image.

[0057] In this embodiment, the position of the color shift correction component in the first image is fixed, namely, the first position. Therefore, the second color shift correction device can determine the imaging color of the color shift correction component based on the color of the region in the first image at the first position.

[0058] In one possible implementation, before determining the imaging color of the color shift correction component based on the color of the region at a first location in the first image, the color shift correction method further includes:

[0059] Determine the gradient of the region in the first image that is the second position, wherein the region in the first image includes the region that is the second position;

[0060] Based on the color of the region at position 1 in the first image, the imaging color of the color shift correction component is determined, including:

[0061] When the gradient is less than or equal to the gradient threshold, the imaging color of the color shift correction component is determined based on the color of the region in the first image that is the second position.

[0062] Since the color of the color shift correction component is a single color, the color shift correction component in the first image should be a pure color area, meaning the area at the first position should be a pure color area. Because the image content of a pure color area changes little, the image content of the area at the first position also changes little. The area at the second position is a part of the area at the first position, therefore the image content of the area at the second position also changes little. Conversely, if the image content of the area at the second position changes greatly, it means that the image content of the area at the second position is not the color shift correction component. In this case, determining the image color of the color shift correction component based on the color of the area at the second position in the first image is likely to lead to a large error in the image color of the color shift correction component. Furthermore, because the smaller the gradient of the area at the second position, the smaller the change in the image content of the area at the second position, meaning that the image content of the area at the second position is more likely to be the color shift correction component, the second color shift correction device can improve the accuracy of the image color of the color shift correction component by performing the step of determining the image color of the color shift correction component based on the color of the area at the second position in the first image when the gradient of the area at the second position is small.

[0063] In one possible implementation, the color shift correction component includes at least one second fastener, and first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component, including:

[0064] In the case where at least one second fastener exists within at least one first position range in the first image, first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component, wherein the second fastener corresponds one-to-one with the first position range.

[0065] Considering that the position of the color shift correction component within the shooting range of the first camera may not change when the second fastener is slightly loose, the position of the color shift correction component within the shooting range of the first camera will not change when the position change of the second fastener in the image captured by the first camera is within the normal range. Since the position change of each second fastener is within the normal range, it can be determined that the position of the color shift correction component within the shooting range of the first camera has not changed, and thus, that the position of the color shift correction component within the image captured by the first camera has not changed. In this embodiment, the first position range is the normal range. In other words, if the position of the second fastener in the image captured by the first camera is within the first position range, it indicates that the position change of the second fastener is within the normal range, and thus, it indicates that the position of the color shift correction component within the shooting range of the first camera has not changed. This also means that the accuracy of the image color determined based on the image color of the region at the first position is high. In this case, the second color shift correction device determines the first correction information based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component, which can improve the accuracy of the first correction information.

[0066] Thirdly, a second color shift correction device is provided, the color shift correction device comprising: a unit for performing as described in the first aspect or any embodiment of the first aspect.

[0067] Fourthly, a third color shift correction device is provided, which includes a processor and a memory.

[0068] The memory provides storage space for storing computer instructions.

[0069] The processor is used to invoke computer instructions stored in the memory to cause execution as in the second aspect or any of the embodiments in the second aspect.

[0070] Fifthly, a vehicle is provided, the vehicle including a first color shift correction device according to the first aspect or any embodiment of the first aspect, and a second color shift correction device for performing as described in the second aspect or any embodiment of the second aspect.

[0071] In one possible implementation, the vehicle includes a first vehicle, which includes a windshield, a sunshade, and a first camera; wherein the sunshade is fixedly connected to the windshield.

[0072] In a sixth aspect, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium is used to store a computer program, which, when executed, is executed as in the second aspect or any embodiment of the second aspect.

[0073] In a seventh aspect, a computer program product is provided, characterized in that the computer program product includes computer language code or includes computer instructions;

[0074] When the computer program product is executed by a processor, the second aspect or any one of the embodiments of the second aspect is executed. Attached Figure Description

[0075] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 is a schematic diagram of an image exhibiting color shift according to an embodiment of this application;

[0077] Figure 2 is a schematic diagram of a first color shift correction device provided in an embodiment of this application applied to a first vehicle;

[0078] Figure 3 is an enlarged view of region A shown in Figure 2, provided in an embodiment of this application;

[0079] Figure 4 is a schematic diagram of the structure of a first color deviation correction device provided in an embodiment of this application;

[0080] Figure 5 is a schematic diagram of another first color deviation correction device provided in the embodiments of this application applied to a first vehicle;

[0081] Figure 6 is an enlarged view of region B shown in Figure 5, provided in an embodiment of this application;

[0082] Figure 7 is a schematic diagram of another first color deviation correction device provided in an embodiment of this application;

[0083] Figure 8 is a schematic flowchart of a color shift correction method provided in an embodiment of this application;

[0084] Figure 9 is a schematic diagram of a first image provided in an embodiment of this application;

[0085] Figure 10 is a schematic diagram of a neutral gray provided in an embodiment of this application;

[0086] Figure 11 is a schematic diagram showing the relationship between a region at a first location and a region at a second location according to an embodiment of this application.

[0087] Figure 12 is a schematic diagram of at least one second fastener provided in an embodiment of this application;

[0088] Figure 13 is a schematic diagram of a second color deviation correction device provided in an embodiment of this application;

[0089] Figure 14 is a schematic diagram of the structure of a third color deviation correction device provided in an embodiment of this application.

[0090] Explanation of reference numerals in the attached figures:

[0091] 10-Windshield; 20-Sunshade; 201-Inner wall; 30-First camera; 301-Main optical axis; 40-Color shift correction device; 401-Color shift correction component; 4011-Second fastener; First connector-402; First side-4021; Second side-4022; Third side-4023; 4024-First adhesive component; 4025-First fastener; 4026-Second adhesive component; Fourth side-4027; 60-First ray; 61-Second ray; 70-First included angle; 71-Second included angle. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0093] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0094] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0095] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) 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.

[0096] By deploying cameras on vehicles to capture images of the external environment, the captured images can be used to record vehicle driving information, or advanced driving assistance systems (ADAS) can determine driving strategies based on the captured images. The colors of the captured images are related to the color temperature of the environment at the time of capture, which varies at different times. For example, for the same environment, the color temperature at noon is 6000 Kelvin (K), while the color temperature in the morning and afternoon may be 5500 K. This causes the colors of the captured images to be affected by the color temperature of the environment, resulting in color shifts and errors in the information in the captured images. Color shift refers to the difference between the colors presented in the image and the actual colors of objects. For ease of description, the colors presented in the image are referred to as the imaged colors, and the colors of objects are referred to as the actual colors. For example, color shift may cause the imaged colors of traffic lights to differ from their actual colors, or the imaged colors of road markings to differ from their actual colors. For example, Figure 1 is a schematic diagram of an image with color shift provided by an embodiment of this application. The image shown in Figure 1 is an image obtained by a camera deployed on a vehicle capturing images of the external environment. In Figure 1, both the sky and the ground appear reddish in the image, while the actual color of the sky is blue and the ground is grayish. Therefore, both the sky and the ground exhibit color casts. Furthermore, in Figure 1, the traffic lights are all imaged as red, but their actual color is yellow, meaning the traffic lights also show color casts. Clearly, when vehicle camera images exhibit color casts, the information recorded in the images is inaccurate, potentially leading to errors in the driving strategies determined based on the images. Therefore, color cast correction is necessary for the images captured by the cameras.

[0097] Current technology determines correction information for multiple different color temperatures by calibrating the color cast correction component. Then, based on the correction information of the calibrated color temperatures that are similar to the color temperature at the time of image capture, the image's correction information is determined, and the color cast of the image can be corrected based on this correction information. However, because there are differences between the calibration environment and the environment at the time of image capture (e.g., the lighting during calibration is different from the lighting during capture), the color cast of the corrected image obtained using this technology is relatively large.

[0098] Based on this, embodiments of this application provide a first color cast correction device. The first color cast correction device includes a color cast correction component, wherein the color cast correction component includes a known actual color (e.g., the known actual color is gray). Therefore, imaging information when the image color is the known actual color can be calibrated. Furthermore, based on the deviation between the calibrated imaging information and the imaging information of the color cast correction component in the image, it is possible to determine the color to be corrected to the known actual color. By applying the first color cast correction device to a first vehicle, the camera can capture the color cast correction component and the environment outside the first vehicle in the same image. This ensures that the shooting environment of the color cast correction component is the same as the environment outside the first vehicle. Then, based on the color cast correction component in the image, color cast correction is performed on the environment outside the first vehicle in the image, reducing the color cast of the corrected environment outside the first vehicle. For ease of description, the environment outside the first vehicle will be referred to as the vehicle exterior environment below.

[0099] The first color shift correction device will be described in detail below. Please refer to Figure 2, which is a schematic diagram of a first color shift correction device provided in an embodiment of this application applied to a first vehicle. In Figure 2, the first color shift correction device is installed in area A. As shown in Figure 2, the first color shift correction device is installed at the windshield 10 of the first vehicle 1. Optionally, the windshield 10 includes the front windshield of the first vehicle 1, and area A is located at the top of the front windshield.

[0100] To illustrate in more detail how the first color shift correction device is installed, please refer to Figure 3, which is an enlarged view of region A shown in Figure 2 according to an embodiment of this application. In Figure 3, the windshield 10, the sun visor 20, and the first camera 30 all belong to the first vehicle. The sun visor 20 is fixedly connected to the windshield 10. The first camera 30 is located in the space formed by the windshield 10 and the inner wall 201 of the sun visor 20, where the wall of the sun visor 20 opposite to the first camera 30 is the inner wall 201. Optionally, the first camera 30 is fixedly connected to the inner wall 201 of the sun visor 20. Optionally, the first camera 30 is fixedly connected to the inner wall 201 of the sun visor 20 by adhesive or clips.

[0101] The first color cast correction device 40 includes a color cast correction component 401 and a first connector 402. Optionally, the actual color of the color cast correction component 401 includes gray. Since gray is a neutral color, it can accurately reflect lighting conditions. Therefore, when the actual color of the color cast correction component 401 includes gray, the accuracy of color cast correction can be improved by correcting the color cast of the image based on the color cast correction component 401. Optionally, the reflectance of the color cast correction component 401 is 18%. Since the average reflectance of objects obtained through statistics is 18%, the accuracy of color cast correction can be improved by correcting the color cast of the image based on the color cast correction component 401 when the reflectance is 18%. For example, the color cast correction component 401 includes a gray patch with a reflectance of 18%.

[0102] The first connector 402 includes a first side 4021, a second side 4022, and a third side 4023, which are connected end-to-end in sequence. The first side 4021 of the first connector 402 is fixedly connected to the inner wall 201 of the light shield 20. Optionally, the first side 4021 of the first connector 402 is fixedly connected to the inner wall 201 of the light shield 20 via a first adhesive member 4024. Optionally, the first adhesive member 4024 is disposed on the first side 4021 of the first connector 402, and the first connector 402 with the first adhesive member 4024 attached is attached to the inner wall 201, thereby achieving the purpose of fixing the first side 4021 of the first connector 402 to the inner wall 201. Optionally, the first adhesive element 4024 is disposed on the inner wall 201, and the first connector 402 is attached to the inner wall 201 with the first adhesive element 4024 attached, thereby achieving the purpose of fixing the first side 4021 of the first connector 402 to the inner wall 201. Alternatively, the first adhesive element 4024 is disposed on the first side 4021 of the first connector 402, and the first connector 402 with the first adhesive element 4024 attached is attached to the inner wall 201, thereby achieving the purpose of fixing the first side 4021 of the first connector 402 to the inner wall 201. In this embodiment, the adhesive element (including the aforementioned first adhesive element 4024 and the second adhesive element 4026 and third adhesive element mentioned below) includes glue, adhesive tape, double-sided tape, and adhesive strip.

[0103] Optionally, the first side 4021 of the first connector 402 is fixedly connected to the inner wall 201 of the light shield 20 via a first fastener 4025. In one possible implementation, the third side 4023 of the first connector 402 has a connecting hole, and the inner wall 201 of the light shield 20 has a mating hole. The connecting hole of the first connector 402 communicates with the mating hole of the light shield 20. The first fastener 4025 passes through the connecting hole and is locked in the mating hole, so that the first side 4021 of the first connector 402 is fixedly connected to the light shield 20. The mating hole can be a threaded hole, that is, the first fastener 4025 passes through the connecting hole and is threaded into the mating hole, so that the first side 4021 of the first connector 402 is fixedly connected to the light shield 20. The mating hole can also be a light hole, the diameter of which is equal to or slightly smaller than the outer diameter of the first fastener 4025. The first fastener 4025 passes through the connecting hole and engages with the mating hole, so that the first side 4021 of the first connector 402 is fixedly connected to the light shield 20. In another possible implementation, the light shield 20 is provided with a connecting hole, and the first side 4021 of the first connector 402 is provided with a mating hole. The mating hole of the first connector 402 communicates with the connecting hole of the light shield 20. The first fastener 4025 passes through the connecting hole and locks into the mating hole, so that the first side 4021 of the first connector 402 is fixedly connected to the light shield 20.

[0104] The second side 4022 of the first connector 402 is fixedly connected to the windshield 10. Optionally, the second side 4022 of the first connector 402 is fixedly connected to the windshield 10 via a second adhesive member 4026. In one possible implementation, the second adhesive member 4026 is disposed on the second side 4022 of the first connector 402, and the first connector 402 with the second adhesive member 4026 attached is affixed to the windshield 10, thereby achieving the purpose of fixing the second side 4022 of the first connector 402 to the windshield 10. In another possible implementation, the second adhesive member 4026 is disposed on the windshield 10, and the first connector 402 is affixed to the windshield 10 with the second adhesive member 4026 attached, thereby achieving the purpose of fixing the second side 4022 of the first connector 402 to the windshield 10. In another possible implementation, the second adhesive member 4026 is disposed on the second side 4022 of the first connector 402. The second adhesive member 4026 is disposed on the windshield 10. The first connector 402 with the second adhesive member 4026 is attached to the windshield 10 with the second adhesive member 4026, thereby achieving the purpose of fixing the second side 4022 of the first connector 402 to the windshield 10.

[0105] Optionally, the second side 4022 of the first connector 402 is fixedly connected to the windshield 10 via a suction cup. In one possible implementation, the suction cup is disposed on the second side 4022 of the first connector 402. The first connector 402 with the suction cup attached is attached to the windshield 10. When the negative pressure adsorption force on the surface of the suction cup is greater than or equal to the adhesion force between the second side 4022 of the first connector 402 and the windshield 10, the first connector 402 is fixedly connected to the windshield 10. When the negative pressure adsorption force on the surface of the suction cup is less than the adhesion force between the second side 4022 of the first connector 402 and the windshield 10, the first connector 402 detaches from the windshield 10. In another possible implementation, a suction cup is disposed on the windshield 10, and the first connector 402 is attached to the windshield 10 with the suction cup attached. When the negative pressure adsorption force on the surface of the suction cup is greater than or equal to the adhesion force between the second side 4022 of the first connector 402 and the windshield 10, the first connector 402 is fixedly connected to the windshield 10. When the negative pressure adsorption force on the surface of the suction cup is less than the adhesion force between the second side 4022 of the first connector 402 and the windshield 10, the first connector 402 detaches from the windshield 10.

[0106] The third side 4023 of the first connector 402 is fixedly connected to the color shift correction component 401. Optionally, the color shift correction component 401 is fixedly connected to the third side 4023 of the first connector 402 via at least one second fastener 4011. In one possible implementation, the third side 4023 of the first connector 402 has a connecting hole, and the color shift correction component 401 has a mating hole. The connecting hole of the first connector 402 communicates with the mating hole of the color shift correction component 401. The second fastener 4011 passes through the connecting hole and is locked in the mating hole, thereby fixing the first connector 402 to the color shift correction component 401. The mating hole can be a threaded hole, that is, the second fastener 4011 passes through the connecting hole and is threaded into the mating hole, thereby fixing the third side 4023 of the first connector 402 to the color shift correction component 401. The mating hole can also be a light hole, the diameter of which is equal to or slightly smaller than the outer diameter of the second fastener 4011. The second fastener 4011 passes through the connecting hole and engages with the mating hole, so that the third side 4023 of the first connector 402 is fixedly connected to the color shift correction component 401. In another possible implementation, the color shift correction component 401 has a connecting hole, and the third side 4023 of the first connector 402 has a mating hole. The mating hole of the first connector 402 communicates with the connecting hole of the color shift correction component 401. The second fastener 4011 passes through the connecting hole and locks into the mating hole, so that the first connector 402 is fixedly connected to the color shift correction component 401.

[0107] Optionally, the third side 4023 of the first connector 402 is provided with a mounting groove, and the circumferential surface of the mounting groove abuts against the color deviation correction component 401 so that the color deviation correction component 401 is fixed in the mounting groove.

[0108] Optionally, the color shift correction component 401 further includes a mounting surface opposite to the reflective surface along its thickness direction. The mounting surface of the color shift correction component 401 is fixedly connected to the third side 4023 of the first connector 402 via a third adhesive member. In one possible implementation, the third adhesive member is disposed on the third side 4023 of the first connector 402, and the first connector 402 with the third adhesive member attached is affixed to the color shift correction component 401, thereby achieving the purpose of fixing the third side 4023 of the first connector 402 to the color shift correction component 401. In another possible implementation, the third adhesive member is disposed on the color shift correction component 401, and the first connector 402 is affixed to the color shift correction component 401 with the third adhesive member attached, thereby achieving the purpose of fixing the third side 4023 of the first connector 402 to the color shift correction component 401. In another possible implementation, a third adhesive element is disposed on the third side 4023 of the first connector 402 and on the mounting surface of the color shift correction component 401. The first connector 402 with the third adhesive element attached is then attached to the windshield 10 with the third adhesive element attached, thereby achieving the purpose of fixing the third side 4023 of the first connector 402 to the color shift correction component 401.

[0109] Optionally, the second fastener 4011 is located in the edge region of the color shift correction component 401, wherein the edge region includes a region close to the edge of the color shift correction component 401. Optionally, the edge region is a region whose distance from the edge of the color shift correction component 401 is the size of the second fastener 4011. In this case, when the edge of the second fastener 4011 coincides with the edge of the color shift correction component 401, the second fastener 4011 is entirely located within the edge region. This reduces the occlusion of the central region of the color shift correction component by the second fastener, thereby reducing the impact of the second fastener on the imaging of the color shift correction component.

[0110] In Figure 3, part or all of the color shift correction component 401 is located within the shooting range of the first camera 30, so the image captured by the first camera 30 includes part or all of the color shift correction component 401. In one possible implementation, since the color shift correction component 401 is fixed to the third side 4023 of the first connector 402, and the first connector 402 is fixed to the inner wall 201 of the light shield 20, when the shooting range of the first camera 30 includes the inner wall 201 of the light shield 20, the entire color shift correction component 401 is within the shooting range of the first camera 30. Optionally, the color shift correction component 401 is only a part of the shooting range of the first camera 30; in other words, there are other elements besides the color shift correction component 401 within the shooting range of the first camera 30.

[0111] Since the first camera 30 is located within the space formed by the windshield 10 and the inner wall 201 of the sun visor 20, the first camera 30 can capture images of the vehicle's external environment through the windshield 10. Furthermore, because the color shift correction component 401 is part of the first camera 30's shooting range, the image captured by the first camera 30 includes both the color shift correction component 401 and the vehicle's external environment. In other words, by applying the first color shift correction device 40 to the first vehicle 1, the first camera 30 of the first vehicle 1 can capture both the vehicle's external environment and the color shift correction component 401 in a single shot, thus ensuring that the environment when the first camera 30 captures the vehicle's external environment is the same as the environment when capturing the color shift correction component 401. As shown in Figure 3, the first light 60 can enter the first camera 30 through reflection from the color shift correction component 401, while the second light 61 can directly enter the first camera 30. Therefore, the image captured by the first camera 30 includes both the color shift correction component 401 and the vehicle's external environment. Furthermore, since the first light 60 and the second light 61 are light sources under the same conditions, the environment in which the first camera 30 captures the external environment of the vehicle is the same as the environment in which the first camera 30 captures the color shift correction component 401. Therefore, correcting the color shift of the external environment of the vehicle based on the color shift correction component can reduce the color shift.

[0112] Optionally, the material of the light shield 20 has a light-blocking effect, so that when the first camera 30 is taking pictures, the light shield 20 can block the light from the first camera 30.

[0113] Optionally, the reflective surface of the color shift correction component 401 forms a first angle 70 with the principal optical axis 301 of the first camera 30, where the reflective surface is the surface used to reflect light. In other words, the reflective surface of the color shift correction component 401 is not parallel to the principal optical axis 301 of the first camera 30. The principal optical axis 301 of the first camera 30 refers to the straight line passing through the optical center and perpendicular to the lens, also called the principal axis. Optionally, the first camera 30 has one and only one principal optical axis 301. In this case, the amount of light reflected into the first camera 30 through the reflective surface of the color shift correction component 401 can be increased.

[0114] Optionally, the first included angle 70 is greater than 0 degrees and less than 90 degrees. For example, the first included angle 70 can be, but is not limited to, 10 degrees, 30 degrees, 50 degrees, 70 degrees, etc., which will not be listed here. Since the amount of light reflected into the first camera 30 through the reflective surface of the color shift correction component 401 is less when the first included angle 70 is 90 degrees, the first included angle being greater than 0 degrees and less than 90 degrees can increase the amount of light reflected into the first camera 30 through the reflective surface of the color shift correction component 401.

[0115] Optionally, the specific value of the first included angle 70 can be determined based on actual needs. For example, as the first included angle 70 gradually increases from 0 degrees to 60 degrees, the amount of light reflected by the reflective surface of the color shift correction component 401 and entering the first camera 30 increases; as the first included angle 70 gradually increases from 60 degrees to 90 degrees, the amount of light reflected by the reflective surface of the color shift correction component 401 and entering the first camera 30 decreases. Therefore, it can be determined that when the included angle is 60 degrees, the amount of light reflected by the reflective surface of the color shift correction component 401 and entering the first camera 30 is the greatest, so the first included angle 70 can be determined to be 60 degrees.

[0116] Optionally, the first side 4021 and the second side 4022 of the first connector 402 form a second angle 71, and correspondingly, the windshield 10 and the inner wall 201 of the sunshade 20 also form a second angle 71. In this case, the first angle 70 can be determined based on the second angle 71. Specifically, the first angle 70 can be determined based on the second angle 71 and the angle between the first side 4021 and the third side 4023 of the first connector 402. This allows for more flexible adjustment of the first angle 70.

[0117] Optionally, the first camera 30 includes a wide-angle camera. Optionally, the horizontal and vertical viewing angles of the wide-angle camera are both greater than or equal to 60 degrees and less than or equal to 120 degrees. When the first camera 30 includes a wide-angle camera, the first camera 30 has a larger shooting range, thus capturing more information.

[0118] Optionally, since the first camera 30 is located within the space formed by the windshield 10 and the inner wall 201 of the sun hood 20, the shooting range of the first camera 30 will not exceed the inner wall 201 of the sun hood 20. Therefore, when the first camera 30 includes a wide-angle camera, the first side 4021 and the second side 4022 of the first connector 402 form a second angle 71, which can reduce the limitation of the inner wall 201 of the sun hood 20 on the shooting range of the wide-angle camera.

[0119] Optionally, the color shift correction component 401 is located within the vignetting area of ​​the wide-angle camera, where the vignetting area is the region within the shooting range of the wide-angle camera. When the captured information is located within the vignetting area, that information is located within the vignetting area in the image captured by the first camera 30. For example, if the color shift correction component 401 is located within the vignetting area of ​​the wide-angle camera, then in the first image captured by the wide-angle camera, the color shift correction component 401 is located within the vignetting area. This makes full use of the vignetting area of ​​the wide-angle camera, thereby reducing the occlusion of information in non-vignetting areas by the color shift correction component 401.

[0120] Please refer to Figure 4, which is a schematic diagram of the structure of a first color shift correction device provided in an embodiment of this application. As shown in Figure 4, the first color shift correction device 40 includes a color shift correction component 401 and a first connector 402. The first connector 402 includes a first side 4021, a second side 4022, and a third side 4023. The included angle between the first side 4021 and the second side 4022 is a second included angle 71. The second side 4022 is the side of the first connector that is fixedly connected to the windshield 10. The color shift correction component 401 is fixed on the third side 4023.

[0121] As an optional implementation, the first connector 402 includes a first side 4021, a second side 4022, a third side 4023, and a fourth side 4027, wherein the first side 4021, the second side 4022, the third side 4023, and the fourth side 4027 are connected end-to-end in sequence. Please refer to Figure 5, which is a schematic diagram of another first color shift correction device provided in this application embodiment applied to a first vehicle. In Figure 5, the first color shift correction device 40 includes a first side 4021, a second side 4022, a third side 4023, and a fourth side 4027, and the first color shift correction device is installed in region B. Compared to Figure 2, the first color shift correction device 40 in Figure 5 has an additional fourth side 4027; the other structures and connections are the same.

[0122] To illustrate in more detail how the first color shift correction device 40 is installed, please refer to Figure 6, which is an enlarged view of region B shown in Figure 5 according to an embodiment of this application. As shown in Figure 6, the fourth side 4027 is connected at an angle to the second side 4022, and the fourth side 4027 is connected at an angle to the third side 4023. That is, along the driving direction of the first vehicle 1, the cross-section of the first connector 402 is quadrilateral. The fourth side is arranged parallel to the main optical axis 301 of the first camera 30, thereby reducing the amount of light reflected into the first camera 30 through the fourth side, thereby reducing the imaging information of the fourth side in the image captured by the first camera 30, and thus reducing the interference of the imaging information of the fourth side on the correction when correcting the color shift of the image captured by the first camera 30, thereby improving the accuracy of the correction. Optionally, along the driving direction of the first vehicle 1, the cross-section of the first connector 402 can also be pentagonal, hexagonal, or other shapes, which are not limited here. Compared to Figure 3, Figure 6 shows that the first color shift correction device 40 has an additional fourth side 4027. The other structures and connections are the same. Therefore, the structures other than the fourth side 4027, the connections between the structures, and the functions of the structures can all be found in the description of Figure 3, and will not be repeated here.

[0123] Please refer to Figure 7, which is a schematic diagram of another first color shift correction device provided in this application embodiment. As shown in Figure 7, the first color shift correction device 40 includes a color shift correction component 401 and a first connector 402. The first connector 402 includes a first side 4021, a second side 4022, a third side 4023, and a fourth side 4027. The included angle between the first side 4021 and the second side 4022 is a second included angle 71. The second side 4022 is the side of the first connector that is fixedly connected to the windshield 10. The color shift correction component 401 is fixed on the third side 4023. Optionally, the windshield 10 includes the front windshield of the first vehicle 1. In this case, the first camera 30 can capture images of the external environment of the vehicle through the windshield, that is, the first camera 30 is used to capture images of the environment in front of the first vehicle 1. The image captured by the first camera 30 includes the environment in front of the first vehicle and the color shift correction component 401. In this way, the color shift correction component 401 can be used to correct the color shift of the environment in front of the first vehicle.

[0124] By applying the first color cast correction device 40 described above to the first vehicle 1, the first image captured by the first camera 30 can include the vehicle's external environment and the color cast correction component 401, thereby allowing the color cast of the vehicle's external environment to be corrected based on the color cast correction component 401. Based on this, this application embodiment also provides a color cast correction method for correcting the color cast of the vehicle's external environment in the first image based on the color cast correction component 401.

[0125] The execution entity of the color shift correction method in this application embodiment can be a second color shift correction device, wherein the second color shift correction device can be any electronic device that can implement the color shift correction method by a processor executing computer program code. Optionally, the second color shift correction device includes an ISP chip. The color shift correction method is described below with reference to the accompanying drawings in the embodiments of this application. Please refer to Figure 8, which is a schematic flowchart of a color shift correction method provided in an embodiment of this application.

[0126] 801. Acquire a first image, wherein the first image includes a first region and a second region, and the first region includes imaging information of the color shift correction component.

[0127] The first image is an image captured by the first camera of the first vehicle. In one possible implementation, while the first vehicle is in motion, the second color shift correction device acquires the first image by capturing images of the external environment of the vehicle from the first camera. In another possible implementation, when the first vehicle is stationary, the second color shift correction device acquires the first image by capturing images of the external environment of the vehicle from the first camera. The first image includes a first region and a second region, wherein the first region includes imaging information from the color shift correction component. Optionally, the second region includes the external environment of the vehicle.

[0128] Optionally, Figure 9 is a schematic diagram of a first image provided in an embodiment of this application. As shown in Figure 9, the dividing line between the first region and the second region divides the first image into a first region and a second region, wherein the first region includes a color shift correction component, and the second region includes the vehicle's external environment.

[0129] 802. Determine the first correction information based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component.

[0130] In this embodiment, the imaging color is the color in the image, and the actual color is the color of the actual object. The imaging color of the color-shift correction component is the color of the color-shift correction component in the first image, and the actual color of the color-shift correction component is the color of the actual object. For example, if the color-shift correction component is a gray square, then the actual color of the color-shift correction component is gray. The actual color can be any color. Optionally, the actual color of the color-shift correction component includes neutral gray. Specifically, the actual color of the color-shift correction component is gray, and the reflectance of the color-shift correction component is 18%, where the 18% reflectance is the average reflectance of the object obtained through statistics. When the actual color of the color-shift correction component is neutral gray, determining the first correction information based on the actual color of the color-shift correction component can improve the accuracy of the first correction information. Optionally, Figure 10 is a schematic diagram of neutral gray provided in an embodiment of this application.

[0131] The first correction information is used to correct the deviation between the imaged color and the actual color; that is, the imaged color can be corrected to the actual color based on the first correction information. The color in an image is determined by the image's imaging information; correspondingly, the image's color can be changed by altering the image's imaging information. Therefore, correcting the image's color can be achieved by changing the image's imaging information. For example, an image includes at least two color channels, and the image's imaging information includes the proportional relationship between the components of each color channel. By changing the proportional relationship between the components of each color channel in the image, the image's color can be changed. Since the actual color of the color-shift correction component is known, the imaging information when the image's color is the actual color can be calibrated. Furthermore, the first correction information can be determined based on the deviation between the calibrated imaging information and the imaging information of the imaged color (i.e., the imaging information of the color-shift correction component in the first image); that is, the first correction information can be determined based on the deviation between the imaged color of the color-shift correction component and the actual color of the color-shift correction component.

[0132] In one possible implementation, the first image includes at least two color channels, and the imaging information includes the proportional relationship of the components of each color channel. The second color shift correction device obtains the actual color ratio of the actual color. When the proportion of the components of each color channel in the image is the actual color ratio, the color of the image is the actual color. For example, the first image includes three color channels: red (R), green (G), and blue (B), i.e., the first image is an RGB image. The actual color ratio includes the component ratio of the R channel: component ratio of the G channel: component ratio of the B channel = 1:1:1. Therefore, when the component ratio of the R channel: component ratio of the G channel: component ratio of the B channel in the RGB image is 1:1:1, the color of the RGB image is the actual color. The second color shift correction device obtains the imaging color ratio of the imaged color, wherein the imaging color ratio includes the proportion of the components of each color channel of the color shift correction component in the first image. For example, if the first image is an RGB image, and the components of each color channel in the color shift correction component are: R channel components : G channel components : B channel components = 1:2:1, then the imaging color ratio includes: R channel components : G channel components : B channel components = 1:2:1. The second color shift correction device determines first correction information based on the deviation between the actual color ratio and the imaging color ratio. This first correction information is used to correct the imaging color ratio to the actual color ratio. For example, if the actual color ratio includes: R channel components : G channel components : B channel components = 1:1:1, and the imaging color ratio includes: R channel components : G channel components : B channel components = 1:2:1, then the first correction information includes: the R channel components are doubled, the G channel components remain unchanged, and the B channel components are doubled.

[0133] 803. Based on the first correction information, the imaging information of the second region is corrected to obtain the second image.

[0134] Since both the first and second regions are areas within the first image, and the color temperature of the environment where the first region was captured is the same as the color temperature of the environment where the second region was captured, the color cast of the first region is the same as that of the second region. Furthermore, because the color cast of the first region is the deviation between the imaged color and the actual color, and as described in step 802, the imaged color can be corrected to the actual color based on the first correction information, the first correction information is used to correct the color cast of the first region. Therefore, the second color cast correction device can correct the color cast of the second region based on the first correction information. Specifically, the second color cast correction device corrects the image information of the second region based on the first correction information to obtain the second image.

[0135] In this embodiment, the first image includes a first region and a second region. The first region includes the imaging information of the color shift correction component. After acquiring the first image, the image processing device determines first correction information based on the deviation between the imaging color of the color shift correction component and the actual color of the color shift correction component. This allows for the acquisition of color temperature correction information when the color shift correction component was captured. Since the image content in the first image was captured under the same environment, and both the color shift correction component and the second region are image content from the first image, the environment when capturing the color shift correction component is the same as the environment when capturing the second region. Therefore, the color temperature when capturing the color shift correction component is the same as the color temperature when capturing the second region. Accordingly, the first correction information is the color temperature correction information when capturing the second region. Thus, the color shift correction device corrects the imaging information of the second region based on the first correction information to obtain the second image, thereby reducing the color shift of the second image.

[0136] As an optional implementation, when the second area includes the vehicle's external environment, the second color shift correction device, after obtaining the second image, also obtains information for determining the driving strategy of the first vehicle based on the second image. Optionally, the information for determining the driving strategy of the first vehicle includes the color of traffic lights and the color of road markings.

[0137] Optionally, the second color shift correction device obtains information for determining the driving strategy of the first vehicle based on the ADAS's processing of the second image. The ADAS can then determine the driving strategy of the first vehicle based on this information. In one possible implementation, the information for determining the driving strategy of the first vehicle includes the color of traffic lights. Based on the color of the traffic lights, the ADAS can determine that the driving strategy of the first vehicle includes driving or stopping. For example, if the traffic light is red, the ADAS determines that the driving strategy of the first vehicle is to stop; if the traffic light is green, the ADAS determines that the driving strategy of the first vehicle is to drive. In another possible implementation, the information for determining the driving strategy of the first vehicle includes the color of road markings. Based on the color of the road markings, the ADAS can determine that the driving strategy of the first vehicle includes prohibiting lane changes, prohibiting parking on the side of the road, etc. For example, if the road markings are determined to be solid white lines, the ADAS determines that the driving strategy of the first vehicle includes prohibiting lane changes; and if the road markings are determined to be solid yellow lines, the ADAS determines that the driving strategy of the first vehicle includes prohibiting parking on the side of the road.

[0138] In this embodiment, since the second image is the color-corrected image, the second color-correction device obtains information for determining the driving strategy of the first vehicle based on the second image, thereby improving the accuracy of the information for determining the driving strategy of the first vehicle.

[0139] Since the first correction information obtained through steps 801 and 802 may contain errors, this application provides an optional implementation method to reduce the error of the first correction information. In this implementation, before performing step 803, the second color shift correction device determines the second correction information of the first region based on AWB. After obtaining the second correction information, the second color shift correction device performs the following steps during the execution of step 803: fusing the first correction information and the second correction information to obtain third correction information. Based on the third correction information, the imaging information of the second region is corrected to obtain a second image.

[0140] AWB can be implemented using any AWB algorithm. Optional AWB algorithms include: gray-world algorithm, perfect reflection method, etc. Optionally, the second color shift correction device includes an ISP chip, and the AWB is the AWB executed by the ISP.

[0141] In this embodiment, after determining the second correction information based on AWB, the second color shift correction device fuses the first and second correction information to obtain the third correction information. This reduces the error of the first correction information using AWB, thereby improving the accuracy of the third correction information. Then, based on the third correction information, the imaging information of the second region is corrected to obtain the second image, which improves the correction effect and reduces the color shift of the second image.

[0142] The brighter the environment when the color shift correction component is captured, the richer the color information of the image captured by the color shift correction component in the first image. In this case, the accuracy of the first correction information determined based on the image color of the color shift correction component in the first image is higher. Correspondingly, when weighting and fusing the first and second correction information, the weight of the first correction information can be greater, thus improving the accuracy of the third correction information obtained through weighted fusion. Furthermore, since a brighter image indicates a brighter environment when the image was captured, a brighter color shift correction component in the first image indicates a higher accuracy of the first correction information, and consequently, a greater weight for the first correction information.

[0143] Based on this, before fusing the first correction information and the second correction information to obtain the third correction information, the second color shift correction device can determine the weight of the first correction information by performing the following steps: determining the weight of the first correction information based on the first brightness of the color shift correction component in the first image, wherein the weight is positively correlated with the first brightness.

[0144] After determining the weights of the first correction information, the second color shift correction device performs the following steps to "fuse the first correction information and the second correction information to obtain the third correction information": based on the weights, the first correction information and the second correction information are weighted and fused to obtain the third correction information. This improves the accuracy of the third correction information.

[0145] As mentioned earlier, the higher the brightness when the color shift correction component is captured, the richer the color information of the image produced by the color shift correction component, and correspondingly, the higher the accuracy of the first correction information. Therefore, as an optional implementation, when the ambient brightness is high during the imaging of the color shift correction component, the second color shift correction device performs a step of determining the first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component, which can improve the accuracy of the first correction information. In this implementation, the second color shift correction device determines whether the second brightness is high or low based on a brightness threshold. Specifically, if the second brightness is greater than or equal to the brightness threshold, it indicates that the second brightness is high; conversely, if the second brightness is less than the brightness threshold, it indicates that the second brightness is low. Therefore, when the second brightness is greater than or equal to the brightness threshold, the second color shift correction device determines the first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component.

[0146] Optionally, as mentioned above, the greater the brightness of the image, the greater the brightness of the environment when the image was captured. Therefore, the second color shift correction device can determine the second brightness based on the principle that the first brightness and the second brightness are positively correlated, thereby improving the accuracy of the second brightness.

[0147] As an optional implementation, before performing step 802, the second color shift correction device determines the imaging color of the color shift correction component by performing the following steps: determining the imaging color of the color shift correction component based on the color of the region at position 1 in the first image.

[0148] In this embodiment, the position of the color shift correction component in the first image is fixed, namely, the first position. Therefore, the second color shift correction device determines the imaging color of the color shift correction component based on the color of the region in the first image located at the first position. Optionally, the second color shift correction component uses the color of the region in the first image located at the first position as the imaging color of the color shift correction component.

[0149] In one possible implementation, the first image is captured by a first camera, and the position of the color shift correction component within the field of view of the first camera is fixed. Therefore, the position of the color shift correction component in the image captured by the first camera is also fixed; that is, the position of the color shift correction component in the image captured by the first camera is a first position. In this case, the second color shift correction device can determine the image color of the color shift correction component based on the color of the region in the first image at the first position.

[0150] In one possible scenario, the color shift correction component belongs to the first color shift correction device 40 mentioned above. When the first color shift correction device 40 is applied to the first vehicle 1, the color shift correction component 401 is located within the shooting range of the first camera 30 when the first camera 30 is shooting the external environment of the vehicle, and the position of the color shift correction component 401 within the shooting range of the first camera 30 is fixed.

[0151] In this scenario, since the color shift correction component is fixedly connected to the first connector, the first connector is fixedly connected to the inner wall of the light shield, and the light shield is fixedly connected to the windshield, the position of the color shift correction component within the shooting range of the first camera is fixed. Accordingly, the position of the color shift correction component in the image captured by the first camera is the first position.

[0152] However, considering that the first vehicle may vibrate, causing the position of the color shift correction component within the first camera's field of view to change, and consequently the position of the color shift correction component in the image captured by the first camera will also change. For example, vibration of the first vehicle during operation may cause the position of the color shift correction component in the image captured by the first camera to change. Accordingly, the image content in the area at the first position in the image captured by the first camera is not the color shift correction component.

[0153] At this point, determining the imaging color of the color shift correction component based on the color of the region at the second position in the first image can easily lead to errors in the imaging color of the color shift correction component. This, in turn, results in a large error in the first correction information determined based on the deviation between the imaging color of the color shift correction component and the actual color of the color shift correction component. Consequently, the correction of the imaging information of the second region based on the first correction information will result in a large color shift in the second image.

[0154] Based on this, this application provides two different implementation methods to reduce the probability of a large color cast in the second image caused by the vibration of the first vehicle. The following will explain in detail how these two implementation methods reduce the probability of a large color cast in the second image caused by the vibration of the first vehicle, thereby reducing the color cast of the second image.

[0155] Implementation Method 1: Before determining the imaging color of the color shift correction component based on the color of the region at a first position in the first image, the second color shift correction device determines the gradient of the region at a second position in the first image. In the first image, the region at the first position includes the region at the second position; that is, the region at the second position is a part of the region at the first position. If the gradient of the region at the second position in the first image is less than or equal to a gradient threshold, the step of determining the imaging color of the color shift correction component based on the color of the region at the second position in the first image is performed.

[0156] In the first image, the region at the first position includes the region at the second position; that is, the region at the second position is a part of the region at the first position. Optionally, Figure 11 is a schematic diagram of the relationship between the region at the first position and the region at the second position provided in an embodiment of this application. As shown in Figure 11, the region at the second position is a part of the region at the first position.

[0157] Since the color of the color shift correction component is a single color, the color shift correction component in the first image should be a pure color area, meaning the area at the first position should be a pure color area. Because the image content of a pure color area changes little, the image content of the area at the first position also changes little. The area at the second position is a part of the area at the first position, therefore the image content of the area at the second position also changes little. Conversely, if the image content of the area at the second position changes greatly, it means that the image content of the area at the second position is not the color shift correction component. In this case, determining the image color of the color shift correction component based on the color of the area at the second position in the first image is likely to lead to a large error in the image color of the color shift correction component. Furthermore, because the smaller the gradient of the area at the second position, the smaller the change in the image content of the area at the second position, meaning that the image content of the area at the second position is more likely to be the color shift correction component, the second color shift correction device can improve the accuracy of the image color of the color shift correction component by performing the step of determining the image color of the color shift correction component based on the color of the area at the second position in the first image when the gradient of the area at the second position is small.

[0158] In Implementation Method 1, the second color shift correction device determines whether the gradient of the region at the second position is large or small based on a gradient threshold. Specifically, if the gradient of the region at the second position is less than or equal to the gradient threshold, it indicates that the gradient of the region at the second position is small; conversely, if the gradient is greater than or equal to the gradient threshold, it indicates that the gradient of the region at the second position is large. Therefore, when the gradient of the region at the second position in the first image is less than or equal to the gradient threshold, the second color shift correction device performs the step of determining the imaging color of the color shift correction component based on the color of the region at the second position in the first image. This reduces the probability of a large color shift in the second image caused by the vibration of the first vehicle, thereby reducing the color shift of the second image.

[0159] Optionally, considering that when the position of the color shift correction component changes slightly within the shooting range of the first camera, the probability that the image content of the edge region of the region at the first position is the color shift correction component is low, but the probability that the image content of the center region of the region at the first position is still the color shift correction component is high, the accuracy of the image color of the color shift correction component can be further improved by determining the image color of the color shift correction component through the first embodiment when the region at the second position is the center region of the region at the first position. Therefore, to ensure that the region at the second position is the center region of the region at the first position, the geometric center of the region at the second position can be made to coincide with the geometric center of the region at the second position, and the proportion of the region at the second position within the region at the first position is within a preset range. The larger the proportion of the region at the second position within the region at the first position, the larger the area of ​​the region at the second position (the larger the area of ​​the region at the second position, the richer the imaging information, and thus the higher the accuracy of the image color of the color shift correction component determined based on the region at the second position), but the probability that the region at the second position includes the edge region of the region at the first position is also greater. Therefore, the proportion of the area in the second position to the area in the first position can be determined according to actual needs.

[0160] Implementation Method 2: The color shift correction component includes at least one second fastener. When at least one second fastener exists in at least one first position range in the first image, the second color shift correction device determines first correction information based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component. The second fastener corresponds one-to-one with the first position range.

[0161] At least one second fastener is used to secure the color shift correction component to the first connector. By securing the color shift correction component to the first connector with at least one second fastener, the position of the color shift correction component within the shooting range of the first camera, and the position of at least one second fastener within the shooting range of the first camera, are both fixed. If vibration of the first vehicle causes the position of the color shift correction component within the shooting range of the first camera to change, then the position of at least one second fastener within the shooting range of the first camera also changes, thereby causing a change in the position of at least one second fastener in the image captured by the first camera. Optionally, the number of second fasteners is the minimum number of fasteners required to secure the color shift correction component. For example, securing a rectangular card requires at least two fasteners (such as two screws), therefore, when the color shift correction component is a rectangular card, the number of second fasteners is greater than or equal to two.

[0162] Considering that the position of the color shift correction component within the shooting range of the first camera may not change when the second fastener is slightly loose, the position of the color shift correction component within the shooting range of the first camera will not change when the position change of the second fastener in the image captured by the first camera is within the normal range. If the position change of each second fastener is within the normal range, it can be determined that the position of the color shift correction component within the shooting range of the first camera has not changed, and thus, the position of the color shift correction component within the image captured by the first camera has not changed. In Embodiment Two, the first position range is this normal range; in other words, if the position of the second fastener in the image captured by the first camera is within the first position range, it indicates that the position change of the second fastener is within the normal range. It should be understood that different second fasteners correspond to different first position ranges. For example, Figure 12 is a schematic diagram of at least one second fastener provided in an embodiment of this application. As shown in Figure 12, in the first image, the color shift correction component is rectangular, and there is a second fastener at each of the four corners of the color shift correction component.

[0163] Therefore, when at least one second fastener is present within at least one first position range in the first image, the second color shift correction device performs the step of determining first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component. This reduces the probability of a large color shift in the second image caused by the vibration of the first vehicle, thereby reducing the color shift of the second image. The presence of at least one second fastener within at least one first position range in the first image includes: in the first image, each of the at least one second fastener is located within the first position range corresponding to that second fastener.

[0164] Optionally, the second color shift correction device determines whether a second fastener exists within the first position range by performing target detection on the image content within the first position range. For example, if the second fastener is a screw, the second color shift correction device can determine whether a screw exists within the first position range by performing target detection on the image content within the first position range. If, by performing target detection on the image content within each first position range, it is determined that a second fastener exists within at least one first position range in the first image.

[0165] Optionally, the imaging information of the second fastener in the first image includes a first pattern. The second color shift correction device can determine whether the second fastener exists within the first position range by determining whether the first pattern exists within the first position range. For example, in Figure 12, the pattern of the second fastener in the first image includes a circular area divided into four parts, two of which are black and the other two are white.

[0166] The color shift correction method of the present application has been described in detail above. The apparatus for performing the color shift correction method is provided below.

[0167] It should be understood that the division of units in the apparatus for performing the color shift correction method provided in the embodiments of this application is only a logical functional division. In actual implementation, all or part of the units can be integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented by a processor calling software. For example, the apparatus includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor unit (MPU), and the memory is either internal to the apparatus or external to the apparatus.

[0168] Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all of the units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units.

[0169] In the embodiments of this application, each unit in the apparatus for performing the color shift correction method may be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, graphics processing unit (GPU), neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), MPU, digital signal processor (DSP), ASIC, FPGA, or a combination of at least two of these processor forms.

[0170] Furthermore, the units in the above-described apparatus for performing color shift correction methods can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-chip (SOC). This SOC may include at least one processor for implementing any of the above methods or for implementing the functions of the units in the apparatus. The at least one processor can be of different types, such as including a CPU and an FPGA, or including a CPU and an MCU, or including a CPU and a GPU, etc. Several possible apparatuses are listed below.

[0171] Please refer to Figure 13, which is a schematic diagram of a second color shift correction device provided in an embodiment of this application. Optionally, the second color shift correction device 130 can be an independent device, such as a vehicle, terminal, server, processing device, communication module, etc. Alternatively, the second color shift correction device 130 can also be a component in an independent device (such as a second color shift correction device), such as a chip or integrated circuit. The second color shift correction device 130 is used to implement the aforementioned color shift correction method, such as the color shift correction method and its possible implementations shown in Figure 8.

[0172] For example, the second color shift correction device 130 includes a communication unit 1301 and further includes a processing unit 1302. The processing unit 1302 is used to perform one or more operations such as processing, determining, generating, calculating, and updating, while the communication unit 1301 is used to perform one or more operations such as sending, receiving, and acquiring. It should be understood that the unit division here is only illustrative; in a specific implementation, some units may be combined together, or a single unit may be divided into multiple units.

[0173] In one possible design, the second color deviation correction device 130 is used to implement the aforementioned color deviation correction method.

[0174] In one possible implementation, the communication unit 1301 is used to acquire a first image. The processing unit 1302 is used to determine first correction information based on the deviation between the imaged color of the color shift correction component and the actual color of the color shift correction component. The processing unit 1302 is also used to correct the image information of a second region based on the first correction information to obtain a second image.

[0175] In one possible implementation, the processing unit 1302 is further configured to obtain information for determining the driving strategy of the first vehicle based on the second image.

[0176] For a detailed description of the above embodiments, please refer to the foregoing description of the method embodiments.

[0177] Please refer to Figure 14, which is a schematic diagram of a third color shift correction device provided in an embodiment of this application. As shown in Figure 14, the third color shift correction device 140 can be an independent device, such as a vehicle, terminal, server, or computing device. Alternatively, the third color shift correction device 140 can also be a component within an independent device (such as a third color shift correction device), such as a chip or integrated circuit. This third color shift correction device 140 is used to implement the aforementioned color shift correction method, such as the color shift correction method and its possible implementations shown in Figure 8.

[0178] The third color shift correction device 140 may include at least one processor 1401 and a memory 1403. Optionally, it may also include a communication interface 1402. Further optionally, it may also include a connection line 1404, wherein the processor 1401, the communication interface 1402 and / or the memory 1403 are connected via the connection line 1404, and / or communicate with each other via the connection line 1404 to transmit control signals and / or data signals.

[0179] in:

[0180] Processor 1401 is a module that performs arithmetic and / or logical operations, and may specifically include one or more of the following modules: CPU, application processor (AP), MCU, ECU, GPU, MPU, ASIC, image signal processor (ISP), DSP, FPGA, complex programmable logic device (CPLD), or coprocessor, etc.

[0181] Communication interface 1402 can be used to provide information input or output to at least one processor, or to receive and / or transmit signals to externally transmitted signals. For example, communication interface 1402 may include interface circuitry. For instance, communication interface 1402 may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, vehicular short-range communication technology, and other short-range wireless communication technologies, etc.). Optionally, communication interface 1402 may also include a radio frequency transmitter, antenna, etc. If communication interface 1002 includes an antenna, the number of antennas can be one or more.

[0182] As one possible design, if the third color shift correction device 140 is a standalone device, the communication interface 1402 may include a receiver and a transmitter. The receiver and transmitter may be the same component or different components. When the receiver and transmitter are the same component, this component may be referred to as a transceiver.

[0183] As another possible design, if the third color offset correction device 140 is a chip or circuit, the communication interface 1402 may include an input interface and an output interface. The input interface and the output interface may be the same interface or they may be different interfaces.

[0184] Alternatively, the functionality of the communication interface 1402 can be implemented via transceiver circuitry or a dedicated transceiver chip.

[0185] The memory 1403 provides storage space, in which data such as the operating system and computer programs can be stored. The memory 1003 can be one or a combination of random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), etc.

[0186] The functions and operations of each module or unit in the third color deviation correction device 140 listed above are merely illustrative examples.

[0187] Each functional unit in the third color shift correction device 140 can be used to implement the aforementioned color shift correction method, such as the color shift correction method and its possible implementations shown in FIG8. For example, the third color shift correction device 140 is used to execute the method executed by the server, or the method executed by the terminal, or the method executed by the vehicle terminal in the color shift correction method shown in FIG8.

[0188] Optionally, the processor 1401 may be a processor specifically designed to perform the aforementioned methods (for ease of distinction, referred to as a dedicated processor), or a processor that performs the aforementioned methods by calling a computer program (for ease of distinction, referred to as a dedicated processor). Optionally, at least one processor may include both dedicated processors and general-purpose processors.

[0189] Optionally, if the third color shift correction device 140 includes at least one memory 1403, and the processor 1401 implements the aforementioned color shift correction method by calling a computer program, the computer program can be stored in the memory 1403.

[0190] This application also provides a chip, which includes logic circuitry and a communication interface. The communication interface is used to receive or transmit signals; the logic circuitry is used to receive or transmit signals through the communication interface. The chip is used to implement the aforementioned color cast correction method, such as the color cast correction method and its possible implementations shown in Figure 8.

[0191] This application also provides a computer-readable storage medium storing instructions that, when executed on at least one processor (or a third color shift correction device), implement the aforementioned color shift correction method, such as the color shift correction method and its possible implementations shown in Figure 5 and other embodiments.

[0192] This application also provides a computer program product, which includes computer instructions for implementing the aforementioned color cast correction method, such as the color cast correction method and its possible implementations shown in FIG8.

[0193] This application embodiment also provides a vehicle, which includes a first color shift correction device 40 and / or a third color shift correction device 140. The pairable devices include intelligent terminals or transportation vehicles such as vehicles, robots, drones, ships, and vessels. Alternatively, they may include smart home devices, smart exhibition hall devices, smart factory devices, smart city devices, entertainment devices, etc.

[0194] It should be understood that the aforementioned vehicles are vehicles in a broad sense, which can include transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.). Similarly, robots can refer to automated guided vehicles (AGVs), walking and talking robots, service robots, and other types of robots.

[0195] This application also provides a server that includes the aforementioned first color shift correction device 40 and / or third color shift correction device 140.

[0196] This application embodiment also provides a terminal, which includes the aforementioned first color shift correction device 40 and / or third color shift correction device 140.

[0197] It should be noted that, in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0198] In this embodiment, the names of information and devices are exemplarily chosen for ease of understanding of the content of this solution. In specific implementations, their names may be designed differently. Furthermore, the names of the same thing may also be designed differently in different scenarios (e.g., different communication layers).

Claims

1. A first color cast correction device, characterized by, The device is applied to a first vehicle, which includes a windshield, a sun visor, and a first camera, wherein the sun visor is fixedly connected to the windshield; the first color shift correction device includes a color shift correction component and a first connector. Wherein, the first side of the first connector is fixedly connected to the inner wall of the sunshade, the second side of the first connector is fixedly connected to the windshield, and the third side of the first connector is fixedly connected to the color shift correction component. The sunshade is used to block light from the first camera, which is used to capture images of the environment outside the first vehicle through the windshield. Part or all of the color shift correction component is located within the shooting range of the first camera.

2. The first color cast correction apparatus according to claim 1, wherein The reflective surface of the color shift correction component forms a first angle with the main optical axis of the first camera.

3. The first color skew correction device of claim 2, wherein The first included angle is greater than 0 degrees and less than 90 degrees.

4. The first color cast correction apparatus according to any one of claims 1 to 3, characterized in that, The first side of the first connector forms a second angle with the second side of the first connector.

5. The first color cast correction apparatus according to any one of claims 1 to 4, characterized in that, The first side of the first connector is fixedly connected to the inner wall of the light shield by a first adhesive or a first fastener.

6. The first color cast correction apparatus according to any one of claims 1 to 5, wherein The second side of the first connector is fixedly connected to the windshield by a second adhesive member.

7. The first color cast correcting apparatus according to any one of claims 1 to 6, wherein The color shift correction component is fixedly connected to the third side of the first connector by at least one second fastener.

8. The first color skew correction device of claim 7, wherein, The second fastener is located in the edge region of the color shift correction component.

9. The first color cast correcting apparatus according to any one of claims 1 to 8, wherein The actual color of the color shift correction component includes gray.

10. The first color cast correction device of claim 9, wherein, The reflectivity of the color shift correction component is 18%.

11. The first color cast correcting apparatus according to any one of claims 1 to 10, wherein The windshield includes the front windshield of the first vehicle.

12. The first color cast correcting apparatus according to any one of claims 1 to 11, wherein The first camera includes a wide-angle camera, and the color shift correction component is located in the vignetting area of ​​the wide-angle camera.

13. A color cast correction method, characterized by, The method includes: Acquire a first image, the first image including a first region and a second region, the first region including imaging information of the color shift correction component; The first correction information is determined based on the deviation between the image color of the color shift correction component and the actual color of the color shift correction component. Based on the first correction information, the imaging information of the second region is corrected to obtain the second image.

14. The method of claim 13, wherein, The second area includes the environment outside the first vehicle; After obtaining the second image, the method further includes: Based on the second image, information is obtained for determining the driving strategy of the first vehicle.

15. A second color cast correction device, characterized by, The color shift correction device includes a unit for performing the method as described in claim 13 or 14.

16. A third color skew correction device, characterized by, The third color shift correction device includes a processor and a memory. The memory provides storage space for storing computer instructions. The processor is used to invoke computer instructions stored in the memory to execute the method as described in claim 13 or 14.

17. A vehicle characterized by comprising: The vehicle includes a first color shift correction device as described in any one of claims 1 to 12, and a second color shift correction device for performing the method as described in claim 13 or 14.

18. The vehicle of claim 17, characterized in that, The vehicle includes a first vehicle, which includes a windshield, a sunshade, and a first camera; wherein the sunshade is fixedly connected to the windshield.

19. A computer-readable storage medium, characterized in that, The computer readable storage medium is for storing a computer program which, when executed, causes the method of claim 13 or 14 to be performed.

20. A computer program product, characterised in that, The computer program product comprises computer language code or comprises computer instructions; The computer program product, when executed by a processor, causes the method of claim 13 or 14 to be performed.

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