CN109131086B - Control method and control system of vehicle-mounted camera - Google Patents
Control method and control system of vehicle-mounted camera Download PDFInfo
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- CN109131086B CN109131086B CN201811236885.XA CN201811236885A CN109131086B CN 109131086 B CN109131086 B CN 109131086B CN 201811236885 A CN201811236885 A CN 201811236885A CN 109131086 B CN109131086 B CN 109131086B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/101—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using cameras with adjustable capturing direction
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Abstract
The invention discloses a control method and a control system of a vehicle-mounted camera. The control method of the vehicle-mounted camera comprises the following steps: pre-judging the vehicle steering to generate steering pre-judgment information; acquiring an actual steering angle of the vehicle; and driving the camera to steer according to the actual steering angle and the steering pre-judgment information. The invention can drive the camera to turn under the turning scene of the vehicle, obtain the visual field meeting the observation requirement, solve the problem that the visual field collected by the camera has an observation blind zone under the turning scene of the camera with fixed visual field direction, effectively assist the driver to observe the turning visual field and contribute to improving the driving safety.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle safety, in particular to a control method and a control system of a vehicle-mounted camera.
Background
The conventional automobile is provided with rearview mirrors on the left side and the right side outside the automobile and in the automobile so as to provide visual field information on the left side and the right side outside the automobile and at the rear part, but the traditional rearview mirrors have more blind areas and cannot meet the observation requirement.
The electronic rearview mirrors capture image information around the vehicle by using a camera, and generally display images collected by the camera by using a display screen to obtain image information of blind areas so as to meet the observation requirements of drivers. However, in the electronic rearview mirror used in the current vehicle, the camera is fixedly mounted on the vehicle body, so the visual field direction of the camera is fixed, and in a special scene, for example, when turning at an intersection, the fixedly arranged right rear visual field camera cannot accurately obtain the whole visual field of the right-coming vehicle, so the camera with the fixed visual field direction cannot meet the visual field observation requirement in many scenes during driving.
Disclosure of Invention
The invention provides a control method and a control system of a vehicle-mounted camera, which are used for controlling the vehicle-mounted camera to steer and meeting the requirement of observing a visual field in the driving steering process.
In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle-mounted camera, including:
pre-judging the vehicle steering to generate steering pre-judgment information;
acquiring an actual steering angle of the vehicle;
and driving the camera to steer according to the actual steering angle and the steering pre-judgment information.
Optionally, the pre-determining the vehicle steering to generate steering pre-determination information includes:
acquiring current lane information of the vehicle according to the vehicle positioning information and the map information;
and generating the steering pre-judgment information according to the current lane information.
Optionally, after the generating the steering pre-determination information according to the current lane information, the method further includes:
driving the camera to perform pre-steering at a first preset angle according to the steering pre-judgment information;
the driving the camera to turn according to the actual turning angle and the turning pre-judgment information comprises:
driving the camera to steer at a second preset angle according to the actual steering angle and the steering pre-judgment information; the steering direction of the first preset angle is the same as that of the second preset angle.
Optionally, the pre-determining the vehicle steering to generate steering pre-determination information includes:
acquiring inertia running track information of a vehicle;
acquiring the steering pre-judgment information according to the inertial running track information;
the driving the camera to turn according to the actual turning angle and the turning pre-judgment information comprises: and when the steering pre-judgment information is inconsistent with the actual steering angle, driving the camera to steer.
Optionally, the pre-determining the vehicle steering to generate steering pre-determination information includes:
and generating the steering pre-judgment information according to the vehicle steering lamp signal.
Optionally, the driving the camera to steer according to the actual steering angle and the steering pre-determination information includes:
and driving the camera to turn towards the direction far away from the vehicle body according to the actual steering angle and the steering pre-judgment information.
In a second aspect, an embodiment of the present invention further provides a control system for a vehicle-mounted camera, including a vehicle steering pre-determination module, a vehicle steering angle acquisition module, a control host, a rotating mechanism, and a camera;
the vehicle steering pre-judging module and the vehicle steering angle acquiring module are respectively connected with the control host, the control host is connected with the rotating mechanism, and the camera is arranged on the rotating mechanism;
the vehicle steering pre-judgment module is used for pre-judging the vehicle steering to generate steering pre-judgment information; the vehicle steering angle acquisition module is used for acquiring the actual steering angle of the vehicle; the control host is used for driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer.
Optionally, the vehicle navigation system further comprises a vehicle positioning module and a map module, wherein the vehicle positioning module and the map module are respectively connected with the vehicle steering pre-judging module, the vehicle positioning module is used for providing vehicle positioning information, and the map module is used for providing map information;
the vehicle steering pre-judgment module is further used for acquiring the current lane information of the vehicle according to the vehicle positioning information and the map information; and generating the steering pre-judgment information according to the current lane information.
Optionally, the control host is further configured to drive the rotating mechanism according to the steering pre-determination information after the steering pre-determination information provided by the vehicle steering pre-determination module is acquired, so that the camera performs pre-steering at a first preset angle;
the vehicle steering angle acquisition module is used for acquiring actual steering angle information provided by the vehicle steering angle acquisition module, and then driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer at a second preset angle; the steering direction of the first preset angle is the same as that of the second preset angle.
Optionally, the system further comprises an inertial navigation module, wherein the inertial navigation module is connected with the vehicle steering pre-judgment module and is used for acquiring inertial running track information of the vehicle;
the vehicle steering pre-judgment module is further used for acquiring the steering pre-judgment information according to the inertia running track information;
the control host is further used for driving the rotating mechanism to enable the camera to steer when the steering pre-judgment information is inconsistent with the actual steering angle.
Optionally, the vehicle steering system further comprises a turn signal acquisition module, the turn signal acquisition module is connected with the vehicle steering pre-judgment module, and the turn signal acquisition module is used for providing a vehicle turn signal;
the vehicle steering pre-judgment module is further used for generating the steering pre-judgment information according to the vehicle steering lamp signal.
Optionally, the control host is configured to drive the rotating mechanism according to the actual steering angle and the steering pre-determination information, so that the camera steers, and the control host includes:
the control host is used for driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer towards the direction far away from the vehicle body.
According to the vehicle-mounted camera control method and the vehicle-mounted camera control system, the steering pre-judgment information is generated by pre-judging the steering of the vehicle, the camera is driven to steer according to the obtained actual steering angle of the vehicle and the steering pre-judgment information, the visual field meeting the observation requirement can be obtained by driving the camera to steer under the steering scene of the vehicle, and the problem that the visual field acquired by the camera in the fixed visual field direction has an observation blind area under the steering scene is solved.
Drawings
Fig. 1 is a flowchart of a control method for a vehicle-mounted camera according to an embodiment of the present invention;
FIG. 2 is a schematic view of a view collection angle of a vehicle-mounted camera according to an embodiment of the present invention;
FIG. 3 is a schematic view of a view collection angle of another vehicle-mounted camera according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method for a vehicle-mounted camera according to another embodiment of the present invention;
FIG. 5 is a schematic view of lane information of a vehicle provided by an embodiment of the present invention;
fig. 6 is a flowchart of a control method for a vehicle-mounted camera according to another embodiment of the present invention;
fig. 7 is a flowchart of a control method for a vehicle-mounted camera according to another embodiment of the present invention;
FIG. 8 is a schematic diagram of a vehicle driving trajectory provided by an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a vehicle-mounted camera control system according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of another vehicle-mounted camera control system according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a control system of another vehicle-mounted camera according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a control system of another vehicle-mounted camera according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a control system of another vehicle-mounted camera according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a control method for a vehicle-mounted camera according to an embodiment of the present invention, and referring to fig. 1, the control method for the vehicle-mounted camera includes:
s110, pre-judging the vehicle steering to generate steering pre-judging information;
the visual field required to be observed by a driver when the vehicle turns to the driving mode can be obviously changed compared with the visual field required to be observed by a straight driving mode in the driving process of the vehicle, so that the turning of the vehicle can be judged in advance, and the visual field meeting the observation requirement is provided for controlling the vehicle-mounted camera to turn when the vehicle turns to. The steering advance determination information is information necessary for an upcoming steering operation of the vehicle, and may include, for example, a steering direction of the vehicle, an inertial trajectory of the vehicle, and the like.
S120, acquiring an actual steering angle of the vehicle;
after the steering pre-judgment process of the vehicle is carried out, the vehicle may actually steer, and the actual steering information of the vehicle can be obtained by acquiring the actual steering angle of the vehicle. Specifically, obtaining the actual steering angle of the vehicle may be performed by intercepting steering angle data from a control bus of the vehicle.
And S130, driving the camera to steer according to the actual steering angle and steering pre-judgment information.
After the steering pre-judgment information and the actual steering angle are obtained, the driving state of the vehicle can be judged at the moment, for example, when the actual steering angle is the same as the steering pre-judgment information, the vehicle can be judged to be in a normal driving steering state, and at the moment, the camera needs to be driven to steer corresponding to the steering state so as to acquire the view field meeting the observation requirement and provide the view field for the driver.
According to the control method of the vehicle-mounted camera, the steering pre-judgment information is generated by pre-judging the steering of the vehicle, then the camera is driven to steer according to the obtained actual steering angle of the vehicle and the steering pre-judgment information, the field of view meeting the observation requirement can be obtained by driving the camera to steer under the steering scene of the vehicle, and the problem that the field of view collected by the camera has an observation blind area under the steering scene of the camera with a fixed field of view direction is solved.
Fig. 2 is a schematic view of a field of view acquisition viewing angle of a vehicle-mounted camera provided in an embodiment of the present invention, and fig. 3 is a schematic view of a field of view acquisition viewing angle of another vehicle-mounted camera provided in an embodiment of the present invention, referring to fig. 2 and fig. 3, wherein a black area is an acquisition viewing area of a camera mounted at a right front end of a vehicle. In addition, in a normal driving state, the field of view observed by the vehicle-mounted camera is generally a field of view in a side front direction or a side rear direction as shown in fig. 2, the field of view collected in a vehicle front direction is reduced in order to monitor the field of view in the front and rear direction of the vehicle, or to achieve both the field of view in the front and rear direction, and when the vehicle-mounted camera is turned, the field of view required to be observed is more a field of view in the front and rear direction of the vehicle, and when the camera is driven to turn, the field of view of the camera should be deflected to the front and rear direction of the vehicle, that is, the field of view of the camera is collected as shown in fig. 3, so that optionally, the camera is driven to turn according to an actual turning angle and turning pre-determination information, the method comprises the following steps: and driving the camera to turn towards the direction far away from the vehicle body according to the actual steering angle and the steering pre-judgment information.
Further, an embodiment of the present invention provides another method for controlling a vehicle-mounted camera for determining a direction in which a vehicle turns, and fig. 4 is a flowchart of another method for controlling a vehicle-mounted camera provided in an embodiment of the present invention, and with reference to fig. 4, the method for controlling a vehicle-mounted camera includes:
s210, obtaining current lane information of the vehicle according to the vehicle positioning information and the map information;
the vehicle positioning information can be realized by a high-precision positioning system, illustratively, a GPS positioning system can be adopted to obtain the current positioning of the vehicle, and further, a network RTK high-precision positioning system can be adopted to realize the positioning of the vehicle position at the sub-meter or centimeter level, and then the lane information on the map is combined to obtain the current lane information where the vehicle is located.
S220, generating steering pre-judgment information according to the current lane information;
fig. 5 is a schematic view of vehicle lane information provided by an embodiment of the present invention, and referring to fig. 5, after obtaining current lane information of a vehicle, for example, when the vehicle is currently located in a left lane or other lanes as shown in fig. 5, and located at an intersection, etc., a turning action of the vehicle may be pre-determined, so as to obtain pre-determination information of turning left or right.
S230, acquiring an actual steering angle of the vehicle;
and S240, driving the camera to steer according to the actual steering angle and steering pre-judgment information.
After the actual steering angle of the vehicle is obtained, whether the vehicle steers according to the pre-judgment of left turning or right turning can be known, and at the moment, the camera can be driven to steer to the preset visual field required by normal steering.
Optionally, an embodiment of the present invention further provides a control method for a vehicle-mounted camera, where, after the step of acquiring an actual steering angle of a vehicle and determining that the vehicle steers according to steering pre-determination information of the vehicle, when the camera is driven to steer, the camera is likely to delay collecting a view to a side of the vehicle, and fig. 6 is a flowchart of another control method for a vehicle-mounted camera provided in an embodiment of the present invention, and with reference to fig. 6, the control method for a vehicle-mounted camera includes:
s310, acquiring current lane information of the vehicle according to the vehicle positioning information and the map information;
s320, generating steering pre-judgment information according to the current lane information;
s330, driving the camera to perform pre-steering at a first preset angle according to the steering pre-judgment information;
wherein, after judging that the vehicle has the intention of turning to and obtains turning to judge information in advance according to vehicle positioning and map information, can turn to in advance to the camera to avoid camera slewing mechanism slew velocity slow, thereby improve the camera and in time gather the field of vision that needs the observation when turning to.
S340, acquiring an actual steering angle of the vehicle;
s350, driving the camera to steer at a second preset angle according to the actual steering angle and steering pre-judgment information; the steering direction of the first preset angle is the same as that of the second preset angle.
When the actual steering angle is obtained and the actual steering action of the vehicle is judged to be matched with the steering pre-judgment information, the camera which is subjected to pre-steering needs to be further steered to obtain a more reasonable observation visual field, and at the moment, the angle of continuous steering of the camera, namely the second preset angle, is the same as the steering direction of the pre-steering angle, namely the first preset angle.
Through the pre-judgment of the vehicle steering and the pre-steering of the camera, the camera can prepare for the observation visual field required by a driver when the vehicle is steered, and the problem of low steering speed of the camera rotating mechanism is avoided, so that the observation visual field when the vehicle is steered is timely provided. It should be noted that, when the actual steering angle is not obtained or when the actual steering angle does not match the steering pre-determination information, the camera in the pre-steering may be returned to the view angle during normal driving or may be driven to steer according to the steering scene corresponding to the actual steering angle, which is not limited herein.
Besides the positioning and the map are used for pre-judging the steering direction of the vehicle, the driving track of the vehicle can be pre-judged, the current driving state of the vehicle is determined according to the actual steering angle, the camera is driven to steer according to the driving state, and the view field at the side of the vehicle is obtained. Fig. 7 is a flowchart of a control method of another vehicle-mounted camera according to an embodiment of the present invention, and referring to fig. 7, the control method of the vehicle-mounted camera includes:
s410, acquiring inertia running track information of the vehicle;
the inertia running track information is a navigation track calculated according to the current running state of the vehicle and the current inertia information of the vehicle, and the inertia running track information is a predicted track about to run by the vehicle. Fig. 8 is a schematic diagram of a driving track of a vehicle according to an embodiment of the present invention, and referring to fig. 8, a driving track about to be traveled by the vehicle at this time is obtained through a driving state of the vehicle and inertia information of the vehicle. The Inertial travel track information may be calculated by an Inertial Measurement Unit (IMU) guidance system.
S420, obtaining steering pre-judgment information according to the inertia running track information;
the inertia running track information of the vehicle is used as the pre-determination information of the vehicle steering, and as shown in fig. 8, the pre-determination information of the vehicle is a left-turn driving state in which the vehicle is in a certain radian according to the inertia.
S430, acquiring an actual steering angle of the vehicle;
and S440, driving the camera to steer when the steering pre-judgment information is inconsistent with the actual steering angle.
Continuing with fig. 8, when the vehicle reaches point a, the obtained actual steering angle is the driving steering of the vehicle to point B, and the vehicle is steered in an emergency state, that is, the actual steering is not consistent with the steering pre-determination information, and at this time, the camera needs to provide a view field for the steering of the vehicle in the emergency state, so the camera needs to be driven to steer.
In addition to the emergency steering scenario of the vehicle shown in fig. 8, the emergency steering scenario also includes a plurality of emergency steering scenarios, for example, when the vehicle is in an emergency steering process during straight traveling, the navigation trajectory obtained by the inertia traveling trajectory information of the vehicle is a straight line, and when the actual steering angle is received, it is described that the vehicle is in an emergency steering state, and at this time, the camera needs to steer to provide a view to the side of the vehicle body.
In addition to the above-mentioned pre-determination of vehicle steering using lane information and inertia running track information, the determination may be performed simply using a vehicle turn signal, and therefore, optionally, the pre-determination of vehicle steering to generate steering pre-determination information may further include: and generating steering pre-judgment information according to the vehicle steering lamp signal. The acquisition of the vehicle turn signal can also be obtained in a manner of intercepting the vehicle turn signal on a control bus of the vehicle.
Fig. 9 is a schematic structural diagram of a vehicle-mounted camera control system provided in an embodiment of the present invention, and referring to fig. 9, the vehicle-mounted camera control system includes a vehicle steering pre-determination module 11, a vehicle steering angle acquisition module 12, a control host 13, a rotating mechanism 14, and a camera 15; the vehicle steering pre-judging module 11 and the vehicle steering angle acquiring module 12 are respectively connected with a control host 13, the control host 13 is connected with a rotating mechanism 14, and a camera 15 is arranged on the rotating mechanism 14; the vehicle steering pre-judgment module 11 is used for pre-judging the vehicle steering to generate steering pre-judgment information; the vehicle steering angle obtaining module 12 is used for obtaining an actual steering angle of the vehicle; the control host 13 is configured to drive the rotating mechanism 14 to steer the camera 15 according to the actual steering angle and the steering pre-determination information. The camera 15 is usually fixedly mounted on the rotating mechanism 14, and the rotating mechanism 14 is used for rotating to drive the camera 15 to rotate.
According to the control system of the vehicle-mounted camera provided by the embodiment of the invention, the vehicle steering can be pre-judged through the vehicle steering pre-judging module to generate the steering pre-judging information, then the control host drives the rotating mechanism to drive the camera to steer according to the steering pre-judging information and the actual steering angle of the vehicle acquired by the vehicle steering angle acquiring module, so that the vehicle can obtain the view field meeting the observation requirement by driving the camera to steer under the steering scene, and the problem that the view field acquired by the camera has an observation blind area under the steering scene of the camera with a fixed view field direction is solved.
With continued reference to fig. 9, the control main unit 13 is optionally configured to drive the turning mechanism 14 to turn the camera 15 in a direction away from the vehicle body, based on the actual steering angle and the steering pre-determination information.
Fig. 10 is a schematic structural diagram of another vehicle-mounted camera control system according to an embodiment of the present invention, and referring to fig. 10, similarly, in the vehicle-mounted camera control system, for a normal steering mode, the vehicle-mounted camera control system may further include a vehicle positioning module 16 and a map module 17, where the vehicle positioning module 16 and the map module 17 are respectively connected to the vehicle steering pre-determination module 11, the vehicle positioning module 16 is configured to provide vehicle positioning information, and the map module 17 is configured to provide map information; the vehicle steering pre-judgment module 11 is further configured to obtain current lane information of the vehicle according to the vehicle positioning information and the map information; and generating steering pre-judgment information according to the current lane information.
With continued reference to fig. 10, the control host 13 is further configured to, after obtaining the steering pre-determination information provided by the vehicle steering pre-determination module 11, drive the rotating mechanism 14 according to the steering pre-determination information, so as to pre-steer the camera 15 at a first preset angle; the steering angle control module is further configured to drive the rotating mechanism 14 according to the actual steering angle and the steering pre-determination information after acquiring the actual steering angle information provided by the vehicle steering angle acquisition module 12, so that the camera 15 is steered at a second preset angle; the steering direction of the first preset angle is the same as that of the second preset angle.
Fig. 11 is a structural schematic diagram of a control system of another vehicle-mounted camera provided in an embodiment of the present invention, and referring to fig. 11, optionally, the vehicle-mounted camera further includes an inertial navigation module 18, where the inertial navigation module 18 is connected to the vehicle steering pre-determination module 11, and the inertial navigation module 18 is configured to obtain inertial traveling track information of the vehicle; the vehicle steering pre-judgment module 11 is further configured to obtain steering pre-judgment information according to the inertia running track information; the control main unit 13 is also configured to drive the rotating mechanism 14 to steer the camera 15 when the steering pre-determination information does not coincide with the actual steering angle.
Fig. 12 is a structural schematic diagram of a control system of another vehicle-mounted camera provided in an embodiment of the present invention, and referring to fig. 12, optionally, the control system of the vehicle-mounted camera further includes a turn signal acquiring module 19, where the turn signal acquiring module 19 is connected to the vehicle turning pre-determining module 11, and the turn signal acquiring module 19 is configured to provide a vehicle turn signal; the vehicle steering pre-judgment module 11 is further configured to generate steering pre-judgment information according to the vehicle steering light signal.
It should be noted that, for different vehicle turning situations, corresponding functional modules are required to be adopted for determination, and further, fig. 13 is a schematic structural diagram of another vehicle-mounted camera control system provided in an embodiment of the present invention, as shown in fig. 13, the vehicle-mounted camera control system includes a vehicle positioning module 16, a map module 17, an inertial navigation module 18, and a turn light acquisition module 19, and steering pre-determination information is acquired through each module, so that more accurate steering pre-determination is realized, and thus, a field of view meeting an observation requirement can be acquired by driving a camera to turn under a vehicle turning situation, and a problem that a field of view acquired by the camera in a fixed field of view direction has an observation blind area under the turning situation is solved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A control method of a vehicle-mounted camera is characterized by comprising the following steps:
pre-judging the vehicle steering to generate steering pre-judgment information;
acquiring an actual steering angle of the vehicle;
driving the camera to steer according to the actual steering angle and the steering pre-judgment information;
the pre-judging the vehicle steering to generate the steering pre-judging information comprises the following steps:
acquiring current lane information of the vehicle according to the vehicle positioning information and the map information;
generating the steering pre-judgment information according to the current lane information;
after the generating of the steering pre-judgment information according to the current lane information, the method further includes:
driving the camera to perform pre-steering at a first preset angle according to the steering pre-judgment information;
the driving the camera to turn according to the actual turning angle and the turning pre-judgment information comprises:
driving the camera to steer at a second preset angle according to the actual steering angle and the steering pre-judgment information; the steering direction of the first preset angle is the same as that of the second preset angle.
2. The method for controlling the vehicle-mounted camera according to claim 1, wherein the pre-determining the vehicle steering and generating steering pre-determination information includes:
acquiring inertia running track information of a vehicle;
acquiring the steering pre-judgment information according to the inertial running track information;
the driving the camera to turn according to the actual turning angle and the turning pre-judgment information comprises: and when the steering pre-judgment information is inconsistent with the actual steering angle, driving the camera to steer.
3. The method for controlling the vehicle-mounted camera according to claim 1, wherein the pre-determining the vehicle steering and generating steering pre-determination information includes:
and generating the steering pre-judgment information according to the vehicle steering lamp signal.
4. The method for controlling the vehicle-mounted camera according to claim 1, wherein the driving the camera to steer according to the actual steering angle and the steering pre-determination information includes:
and driving the camera to turn towards the direction far away from the vehicle body according to the actual steering angle and the steering pre-judgment information.
5. A control system of a vehicle-mounted camera is characterized by comprising a vehicle steering pre-judgment module, a vehicle steering angle acquisition module, a control host, a rotating mechanism and a camera;
the vehicle steering pre-judging module and the vehicle steering angle acquiring module are respectively connected with the control host, the control host is connected with the rotating mechanism, and the camera is arranged on the rotating mechanism;
the vehicle steering pre-judgment module is used for pre-judging the vehicle steering to generate steering pre-judgment information; the vehicle steering angle acquisition module is used for acquiring the actual steering angle of the vehicle; the control host is used for driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer;
the control system of the vehicle-mounted camera further comprises a vehicle positioning module and a map module, wherein the vehicle positioning module and the map module are respectively connected with the vehicle steering pre-judgment module, the vehicle positioning module is used for providing vehicle positioning information, and the map module is used for providing map information;
the vehicle steering pre-judgment module is further used for acquiring the current lane information of the vehicle according to the vehicle positioning information and the map information; generating the steering pre-judgment information according to the current lane information;
the control host is further used for driving the rotating mechanism according to the steering pre-judgment information after the steering pre-judgment information provided by the vehicle steering pre-judgment module is acquired, so that the camera is pre-steered at a first preset angle;
the vehicle steering angle acquisition module is used for acquiring actual steering angle information provided by the vehicle steering angle acquisition module, and then driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer at a second preset angle; the steering direction of the first preset angle is the same as that of the second preset angle.
6. The control system of the vehicle-mounted camera according to claim 5, further comprising an inertial navigation module, wherein the inertial navigation module is connected with the vehicle steering pre-judgment module, and is used for acquiring inertial driving track information of a vehicle;
the vehicle steering pre-judgment module is further used for acquiring the steering pre-judgment information according to the inertia running track information;
the control host is further used for driving the rotating mechanism to enable the camera to steer when the steering pre-judgment information is inconsistent with the actual steering angle.
7. The control system of the vehicle-mounted camera according to claim 5, further comprising a turn signal acquisition module, wherein the turn signal acquisition module is connected with the vehicle turning pre-judgment module, and the turn signal acquisition module is used for providing a vehicle turn signal;
the vehicle steering pre-judgment module is further used for generating the steering pre-judgment information according to the vehicle steering lamp signal.
8. The control system of the vehicle-mounted camera according to claim 5, wherein the control host is configured to drive the rotating mechanism according to the actual steering angle and the steering pre-determination information, so as to steer the camera, and includes:
the control host is used for driving the rotating mechanism according to the actual steering angle and the steering pre-judgment information so as to enable the camera to steer towards the direction far away from the vehicle body.
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