CN107249104A - A kind of drive recorder smart camera automatic explosion method - Google Patents
A kind of drive recorder smart camera automatic explosion method Download PDFInfo
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- CN107249104A CN107249104A CN201710454122.1A CN201710454122A CN107249104A CN 107249104 A CN107249104 A CN 107249104A CN 201710454122 A CN201710454122 A CN 201710454122A CN 107249104 A CN107249104 A CN 107249104A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/76—Circuitry for compensating brightness variation in the scene by influencing the image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a kind of drive recorder smart camera automatic explosion method, comprise the following steps：Obtain present frame, former frame, the functional index of the target digital image of preceding former frame, the time for exposure of the target digital image of acquisition present frame, analog-gain value, digital gain value, and corresponding regulation step-length；Compare the size of fluctuation variance and given threshold；The time for exposure of next frame, analog-gain value, digital gain value are adjusted.The present invention can obtain brightness, definition, saturation degree more suitably exposure images to most of Driving Scenes.
Description
Technical field
The present invention relates to a kind of drive recorder smart camera automatic exposure field, it is adaptable to running recording instrument of automobile.This
Invention is desirably integrated into Senior Officer's accessory system (ADAS), can not only record the video figure in vehicle traveling process
Picture and audio, can also real time scan front vehicles, non-motor vehicle, lane line and traffic sign etc., obtain clearly image
Information, is self-adaption cruise system (ACC), frontal collisions early warning system (FCW), Lane Keeping System (LKS), deviation
The intelligent automobile drive assist system such as early warning system (LDW) and automatic emergency brake system (AEB) provides support.
Background technology
Car ownership is more and more, and traffic accident occurs again and again, various to hear of when touching porcelain event also, and this is serious to threaten
The safety of life and property of human pilot, and drive recorder can for record vehicle traveling process in video image and
Audio, it is not only that traffic accident provides strong evidence, and oneself is effectively defended in porcelain event is touched also for driver is allowed
Right.
Camera in existing drive recorder is easy camera, image and video pictures effect captured by it
Fruit is more limited to, and in order to improve image effect, is realized generally by pixel value is improved, such as 4K cmos image sensing
Device be only capable of increase image definition, but can not farthest increase in RAW picture shootings image stereovision,
Definition and color sense of area-of-interest etc..And when headlight is irradiated on front windshield and forms strong reflective,
The definition that drive recorder is shot can be greatly affected, and caused fuzzy pictures or even can not effectively be recognized.
Automatic exposure is the default setting of many smart cameras, and camera will automatically control shooting and expose under this exposure mode
Light, the light intensity that user is not required to do the sensor on any operation, camera and can reflected according to material object at all is set automatically
F-number, ISO sensitivity values and automatically control shutter.Spectrum assignment is mainly used to adjust overall brightness in kind, if exposure
State modulator it is good, can greatly increase the comentropy of entire image, lift color saturation of image.
The core of automatic exposure algorithm is how to define and calculate brightness of image index and preferable brightness index.When
Most widely used automatic exposure algorithm assumes that the average reflecting rate of whole reflective surfaces in scenery is 18% in preceding camera.It is based on
This is preferably bright it is assumed that brightness of image index is equivalent to the average brightness value of view picture or part region of interest area image
Index is spent in the maximum gray scale that gray level representation is 52%.For there is the low reflecting rate of large area, height in vehicle traveling process
The scene of reflecting rate and high dynamic contrast occurs color distortion, the phenomenon such as loss in detail.Color can be changed by changing exposure
Saturation degree, slight deficient exposure can obtain the details of the target image in chromatic colour, and high-contrast Scene, and strong
Strong deficient exposure can be colour-darkening and switch to black, and overexposure can weaken the principal character of form and aspect, produce increasingly paler color
Adjust.
The content of the invention
The problem of it is an object of the invention to exist for above prior art, propose that a kind of car steering auxiliary that is used for is
The smart camera automatic exposure Processing Algorithm of system drive recorder, solves certain color in running car scene and occupies leading
When exposure the problem of make cross-color, and the brightness of image of dash area show and details performance in high dynamic contrast
Problem, while appropriate brightness is obtained, obtains more gay colours and more comentropies.
To achieve these goals, the present invention uses following technical scheme：
A kind of drive recorder smart camera automatic explosion method, comprises the following steps：
Step 1, target digital image, the target digital image of former frame, the number of targets of preceding former frame for obtaining present frame
Word image；
The functional Index A eEst of step 2, the target digital image of acquisition present frame1, former frame target digital image
Functional Index A eEst2, preceding former frame target digital image functional Index A eEst3；
Obtain the time for exposure AeShutter of the target digital image of present frame1, analog-gain value AeAgc1, numeral increase
Beneficial value AeDgain1；
Time for exposure regulation step-length △ Shutter is obtained according to the target digital image of present frame1, analog-gain value adjust
The long △ Agc of synchronizing1, digital gain value adjusting step △ dgain1；
Step 3, the target digital image for asking for present frame, the target digital image of former frame, the number of targets of preceding former frame
The fluctuation variance D of the functional index of word imageor：
Step 4, judgement fluctuation variance DorWith βorSize, βorFor given threshold,
If fluctuating variance Dor>βor, then into step 5；
If fluctuating variance Dor≤βor, then into step 6；
If step 5, AeEst1≥AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1+
△Shutter1, the analog-gain value of the target digital image of next frame is AeAgc1+△Agc1, the target number figure of next frame
The digital gain value of picture is AeDgain1+△dgain1, time for exposure of the target digital image of next frame, analog-gain value,
Digital gain value, which sets to come into force, obtains the target digital image of next frame, and using the target digital image of next frame as new
The target digital image of present frame, return to step 1；
If AeEst1<AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1-△
Shutter1, the analog-gain value of the target digital image of next frame is AeAgc1-△Agc1, the target digital image of next frame
Digital gain value be AeDgain1-△dgain1, the time for exposure of the target digital image of next frame, analog-gain value, number
Word yield value, which sets to come into force, obtains the target digital image of next frame, and works as the target digital image of next frame as new
The target digital image of previous frame, return to step 1；
Step 6, using the time for exposure of the target digital image of present frame, analog-gain value, digital gain value as next
The time for exposure of the target digital image of frame, analog-gain value, digital gain value, the exposure of the target digital image of next frame
Time, analog-gain value, digital gain value, which set to come into force, obtains the target digital image of next frame, asks for the target of next frame
The functional Index A eEst of digital picture0,
The functional Index A eEst of step 7, the target digital image of acquisition next frame0With the target digital image of present frame
Functional Index A eEst1The absolute value of difference | AeEst0-AeEst1|
If | AeEst0-AeEst1|>δ, wherein δ are given threshold, are obtained | AeEst0-AeEst1| more than δ not between
The disconnected duration,
If the continual duration exceedes setting time threshold value, | AeEst0-AeEst1| it is uninterrupted lasting more than δ
Time resets, and regard the target digital image of next frame as the target digital image of new present frame, return to step 1；
If the continual duration is not above setting time threshold value, update | AeEst0-AeEst1| more than δ not between
The disconnected duration, using the target digital image of next frame as the target digital image of new present frame, return to step 6,
If | AeEst0-AeEst1|≤δ, using the target digital image of next frame as new present frame target number
Image, return to step 6.
Invention compared with prior art, with advantages below and effect：
(1) the problem of exposure makes cross-color when the color of certain in scene accounts for leading, and HDR figure are solved
The problem of local overexposure of picture and deficient exposure, while appropriate brightness is obtained, more gay colours and details are obtained, is obtained more
Meet the exposure of human eye vision；
(2) to most of Driving Scenes, brightness, definition, saturation degree all more suitably exposure images can be obtained.
Embodiment
A kind of drive recorder smart camera automatic explosion method, comprises the following steps：
Step 1, target digital image, the target digital image of former frame, the number of targets of preceding former frame for obtaining present frame
Word image；
The functional Index A eEst of step 2, the target digital image of acquisition present frame1, former frame target digital image
Functional Index A eEst2, preceding former frame target digital image functional Index A eEst3；
Obtain the time for exposure AeShutter of the target digital image of present frame1, analog-gain value AeAgc1, numeral increase
Beneficial value AeDgain1；
Time for exposure regulation step-length △ Shutter is obtained according to the target digital image of present frame1, analog-gain value adjust
The long △ Agc of synchronizing1, digital gain value adjusting step △ dgain1；
Step 3, the target digital image for asking for present frame, the target digital image of former frame, the number of targets of preceding former frame
The fluctuation variance D of the functional index of word imageor：
Step 4, judgement fluctuation variance DorWith βorSize, βorFor given threshold,
If fluctuating variance Dor>βor, then into step 5；
If fluctuating variance Dor≤βor, then into step 6；
If step 5, AeEst1≥AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1
+△Shutter1, the analog-gain value of the target digital image of next frame is AeAgc1+△Agc1, the target number of next frame
The digital gain value of image is AeDgain1+△dgain1, the time for exposure of the target digital image of next frame, analog gain
Value, digital gain value, which set to come into force, obtains the target digital image of next frame, and using the target digital image of next frame as new
Present frame target digital image, return to step 1；
If AeEst1<AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1-△
Shutter1, the analog-gain value of the target digital image of next frame is AeAgc1-△Agc1, the target digital image of next frame
Digital gain value be AeDgain1-△dgain1, the time for exposure of the target digital image of next frame, analog-gain value, number
Word yield value, which sets to come into force, obtains the target digital image of next frame, and works as the target digital image of next frame as new
The target digital image of previous frame, return to step 1；
Step 6, using the time for exposure of the target digital image of present frame, analog-gain value, digital gain value as next
The time for exposure of the target digital image of frame, analog-gain value, digital gain value, the exposure of the target digital image of next frame
Time, analog-gain value, digital gain value, which set to come into force, obtains the target digital image of next frame, asks for the target of next frame
The functional Index A eEst of digital picture0,
The functional Index A eEst of step 7, the target digital image of acquisition next frame0With the target digital image of present frame
Functional Index A eEst1The absolute value of difference | AeEst0-AeEst1|
If | AeEst0-AeEst1|>δ, wherein δ are given threshold, are obtained | AeEst0-AeEst1| more than δ not between
The disconnected duration,
If the continual duration exceedes setting time threshold value, | AeEst0-AeEst1| it is uninterrupted lasting more than δ
Time resets, and regard the target digital image of next frame as the target digital image of new present frame, return to step 1；
If the continual duration is not above setting time threshold value, update | AeEst0-AeEst1| more than δ not between
The disconnected duration, using the target digital image of next frame as the target digital image of new present frame, return to step 6,
If | AeEst0-AeEst1|≤δ, using the target digital image of next frame as new present frame target number
Image, return to step 6.
The asking for of the functional index of target digital image in step 2 and step 6 comprises the following steps：
Step a, three characteristic values for extracting target digital image, three characteristic values include definition characteristic value Shar, satisfied
With degree characteristic value Sat and average brightness value Lum,
Step b, definition characteristic value Shar, saturation degree characteristic value Sat, the mean flow rate spy to above-mentioned target digital image
Value indicative Lum distributes respective weights, W1For definition characteristic value Shar weight, W2For saturation degree characteristic value Sat weight, W3For
Saturation degree characteristic value Lum weight；
Step c, according to corresponding weight, the functional index of target digital image is determined by exposing estimation functional module
AeEst, specific formula is：
AeEst=W1*Shar+W2*Sat+W3*Lum。
As a kind of preferred scheme, the asking for of the definition characteristic value Shar of the target digital image in step a include with
Lower step：
Target digital image is subjected to array piecemeal and obtains piecemeal array of digital images, is calculated in piecemeal array of digital images
The mean flow rate Y of each piecemeal digital picturec,dValue, c is piecemeal digital picture in definition characteristic value Shar extraction step
Affiliated row, d is the row belonging to piecemeal digital picture in definition characteristic value Shar extraction step, in line direction (x directions)
Definition characteristic value Shar, Shar are used as with the absolute value of the product of the mean flow rate gradient of the dot interlace pixel of column direction (y directions)
Calculation formula isWherein：J carries for definition characteristic value Shar's
Take the maximum number of lines of piecemeal digital picture in step；K is piecemeal digital picture in definition characteristic value Shar extraction step
Maximum number of column.
As a kind of preferred scheme, the asking for of the saturation degree characteristic value Sat of the target digital image in step a includes following
Step：
Target digital image information is subjected to array piecemeal and obtains piecemeal array of digital images, piecemeal digital picture battle array is obtained
The average of red, green, blue each color component in row in each piecemeal digital picture, i.e., the red of each piecemeal digital picture
Component average Ravga,b, the green component average Gavg of each piecemeal digital picturea,b, the blueness point of each piecemeal digital picture
Measure average Bavga,b, a is the row belonging to piecemeal digital picture in saturation degree characteristic value Sat extraction step, and b is that saturation degree is special
Row in value indicative Sat extraction step belonging to piecemeal digital picture.
Saturation exponent Sat is
Wherein；
The maximum number of lines of piecemeal digital picture in the extraction step that n is saturation degree characteristic value Sat；M is saturation degree characteristic value
The maximum number of column of piecemeal digital picture in Sat extraction step.
As a kind of preferred scheme, the asking for of the mean flow rate characteristic value Lum of the target digital image in step a includes
Following steps：
Target digital image information is subjected to array piecemeal and obtains piecemeal array of digital images, piecemeal digital picture is first tried to achieve
The luminance mean value of each piecemeal digital picture in array, then seek the mean flow rate index of whole figure
WhereinE is piecemeal digital picture institute in mean flow rate characteristic value Lum extraction step
The row of category, f is the row belonging to piecemeal digital picture in mean flow rate characteristic value Lum extraction step, Ye,fRepresent in e rows and f
The brightness value of the block of row.Y02600 are taken, now the luminance resolution of human eye is relatively large；P is mean flow rate characteristic value Lum's
The maximum number of lines of piecemeal digital picture in extraction step；Q is piecemeal digitized map in mean flow rate characteristic value Lum extraction step
The maximum number of column of picture.
As a kind of preferred scheme, the weight coefficient W in step c1、W2、W3It can be determined by the following manner.
(a), maximum CorMax in color component, i.e.,
(b), minimum value CorMin in color component, i.e.,
(c), color scene characteristic value CorScene, i.e. CorScene=CorMax-CorMin；
If color scene characteristic value CorScene is more than or equal to color threshold value CorTh, W1=0.4, W2=0.3, W3=
0.3；
If color scene characteristic value CorScene is less than color threshold value CorTh, W1=0.6, W2=0.1, W3=0.3.
Above-mentioned color threshold value CorTh is the 18% of maximum gray scale, and maximum gray scale is 255, and the 18% of maximum gray scale is 255
× 18%=183, it is now most clear for camera photometering.
As a kind of preferred scheme, time for exposure regulation step-length is obtained according to the target digital image of present frame in step 2
△Shutter1, analog-gain value adjusting step △ Agc1, digital gain value adjusting step △ dgain1Comprise the following steps：
Functional Index A eEst and its given threshold AeEstTh, this subthreshold are estimated according to the exposure of target digital image
AeEstTh is setting value, can be experiment empirical value, that is, the perfect estimation functional value exposed.Adaptive step is determined, that is, is exposed
Adjusting step Δ Shutter, analog-gain value adjusting step Δ Agc, digital gain value adjusting step Δ Dgain between light time.Tool
Body method is：
Set the time for exposure that initial exposure time regulation step-length λ s, initial exposure time regulation step-length λ s can be setting
The 4% of maximum, time for exposure maximum can be the value for making exposure variations maximum by adjusting the time for exposure；
Setting primary simulation yield value adjusting step λ agc, primary simulation yield value adjusting step λ agc can increase for simulation
The 4% of beneficial maximum, analog gain maximum can be the value for making exposure variations maximum by adjusting analog gain；
Setting digital gain value adjusting step λ dgain, digital gain value adjusting step λ dgain can be for digital gain most
4% be worth greatly, digital gain maximum can be by adjusting exposure digital gain, the value for making exposure variations maximum.
Determine that the time for exposure adjusts step-length
Determine analog-gain value adjusting step
Determine digital gain value adjusting step
Thus a kind of smart camera automatic explosion method of drive recorder of the invention, solves the color of certain in scene and accounts for
The problem of exposure makes cross-color when leading, and during high dynamic brightness range shooting picture, local overexposure and part owe what is exposed
Phenomenon, while appropriate brightness is obtained, obtains more gay colours and details, improves the display effect of image.
Instantiation described herein is only to spirit explanation for example of the invention.The technical field of the invention
Technical staff described instantiation can be made it is various modification supplement or using similar mode substitute,
But without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (1)
1. a kind of drive recorder smart camera automatic explosion method, it is characterised in that comprise the following steps：
Step 1, the target digital image for obtaining present frame, the target digital image of former frame, the target number figure of preceding former frame
Picture；
The functional Index A eEst of step 2, the target digital image of acquisition present frame1, former frame target digital image functional
Index A eEst2, preceding former frame target digital image functional Index A eEst3；
Obtain the time for exposure AeShutter of the target digital image of present frame1, analog-gain value AeAgc1, digital gain value
AeDgain1；
Time for exposure regulation step-length △ Shutter is obtained according to the target digital image of present frame1, analog-gain value adjusting step
△Agc1, digital gain value adjusting step △ dgain1；
Step 3, the target digital image for asking for present frame, the target digital image of former frame, the target number figure of preceding former frame
The fluctuation variance D of the functional index of pictureor：
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<mn>1</mn>
<mn>3</mn>
</mfrac>
<munderover>
<mo>&Sigma;</mo>
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<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mn>3</mn>
</munderover>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>AeEst</mi>
<mi>i</mi>
</msub>
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<mfrac>
<mn>1</mn>
<mn>3</mn>
</mfrac>
<munderover>
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<mi>AeEst</mi>
<mi>j</mi>
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</mrow>
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Step 4, judgement fluctuation variance DorWith βorSize, βorFor given threshold,
If fluctuating variance Dor>βor, then into step 5；
If fluctuating variance Dor≤βor, then into step 6；
If step 5, AeEst1≥AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1+△
Shutter1, the analog-gain value of the target digital image of next frame is AeAgc1+△Agc1, the target digital image of next frame
Digital gain value be AeDgain1+△dgain1, the time for exposure of the target digital image of next frame, analog-gain value, numeral
Yield value, which sets to come into force, obtains the target digital image of next frame, and regard the target digital image of next frame as new present frame
Target digital image, return to step 1；
If AeEst1<AeEst2, then the time for exposure of the target digital image of next frame is AeShutter1-△Shutter1,
The analog-gain value of the target digital image of next frame is AeAgc1-△Agc1, the digital gain of the target digital image of next frame
It is worth for AeDgain1-△dgain1, the time for exposure of the target digital image of next frame, analog-gain value, digital gain value are set
Come into force obtain next frame target digital image, and using the target digital image of next frame as new present frame target number
Image, return to step 1；
Step 6, it regard the time for exposure of the target digital image of present frame, analog-gain value, digital gain value as next frame
The time for exposure of target digital image, analog-gain value, digital gain value, the time for exposure of the target digital image of next frame,
Analog-gain value, digital gain value, which set to come into force, obtains the target digital image of next frame, asks for the target number figure of next frame
The functional Index A eEst of picture0,
The functional Index A eEst of step 7, the target digital image of acquisition next frame0With the functional of the target digital image of present frame
Index A eEst1The absolute value of difference | AeEst0-AeEst1|,
If | AeEst0-AeEst1|>δ, wherein δ are given threshold, are obtained | AeEst0-AeEst1| it is uninterrupted lasting more than δ
Time,
If the continual duration exceedes setting time threshold value, | AeEst0-AeEst1| the uninterrupted duration more than δ
Reset, and regard the target digital image of next frame as the target digital image of new present frame, return to step 1；
If the continual duration is not above setting time threshold value, update | AeEst0-AeEst1| uninterruptedly holding more than δ
The continuous time, using the target digital image of next frame as the target digital image of new present frame, return to step 6,
If | AeEst0-AeEst1|≤δ, using the target digital image of next frame as new present frame target digital image,
Return to step 6.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110708473A (en) * | 2019-11-14 | 2020-01-17 | 深圳市道通智能航空技术有限公司 | High dynamic range image exposure control method, aerial camera and unmanned aerial vehicle |
| CN111770283A (en) * | 2020-07-03 | 2020-10-13 | 浙江大华技术股份有限公司 | Gain adjustment method and device for image exposure |
| CN113329188A (en) * | 2021-05-07 | 2021-08-31 | 浙江大华技术股份有限公司 | Exposure control method and device, electronic equipment and storage medium |
| CN115134492A (en) * | 2022-05-31 | 2022-09-30 | 北京极豪科技有限公司 | Image acquisition method, electronic device and computer readable medium |
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| CN113329188B (en) * | 2021-05-07 | 2022-11-22 | 浙江大华技术股份有限公司 | Exposure control method and device, electronic equipment and storage medium |
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