CN109131086A - A kind of control method and control system of vehicle-mounted camera - Google Patents
A kind of control method and control system of vehicle-mounted camera Download PDFInfo
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- CN109131086A CN109131086A CN201811236885.XA CN201811236885A CN109131086A CN 109131086 A CN109131086 A CN 109131086A CN 201811236885 A CN201811236885 A CN 201811236885A CN 109131086 A CN109131086 A CN 109131086A
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- Prior art keywords
- vehicle
- information
- steering
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- camera
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Classifications
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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
-
- 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
Abstract
The invention discloses a kind of control method of vehicle-mounted camera and control systems.The control method of the vehicle-mounted camera includes: to be judged in advance Vehicular turn, generates steering and judges information in advance；Obtain the actual steering angle of vehicle；Information is judged in advance according to the actual steering angle and the steering, and the camera is driven to be turned to.The present invention can be turned under Vehicular turn scene by driving camera, obtain the visual field for meeting observation demand, the camera in field of excursion direction is solved in the case where turning to scene, there is viewing blind zone in the visual field of camera acquisition, it can effectively assist driver turn to the observation in the visual field, help to improve the safety of driving.
Description
Technical field
The present embodiments relate to on-vehicle safety technical field more particularly to the control methods and control of a kind of vehicle-mounted camera
System processed.
Background technique
The conventional vehicle left and right sides and car outside vehicle are fitted with rearview mirror, to provide the left and right sides and rear outside vehicle
Field of view information, but there are more blind areas for traditional rear-view mirror, are not able to satisfy observation demand.
Electronics rearview mirror captures the image information of vehicle periphery using camera, and usually utilizes a display screen pair
The image of camera acquisition is shown, to obtain the image information of blind area, meets the observation demand of driver.However, current
In the electronics rearview mirror that vehicle uses, camera is fixedly mounted on the car body, therefore the visual field direction of camera is fixed, special
Scene under, such as crossroad turn when, the right back visual field camera of fixed setting can not accurately obtain right and carry out vehicle
Whole visuals field, therefore, the camera in field of excursion direction be not able to satisfy driving in compared under Scenario the visual field observe demand.
Summary of the invention
The present invention provides the control method and control system of a kind of vehicle-mounted camera, is turned with controlling vehicle-mounted camera
To the observation demand in the visual field in satisfaction driving steering procedure.
In a first aspect, the embodiment of the invention provides a kind of control methods of vehicle-mounted camera, comprising:
Vehicular turn is judged in advance, steering is generated and judges information in advance；
Obtain the actual steering angle of vehicle；
Information is judged in advance according to the actual steering angle and the steering, and the camera is driven to be turned to.
Optionally, described that Vehicular turn is judged in advance, it generates steering and judges information in advance, comprising:
According to vehicle location information and cartographic information, current lane information locating for vehicle is obtained；
According to the current lane information, generates the steering and judge information in advance.
Optionally, described according to the current lane information, the generation steering is judged in advance after information, further includes:
Information is judged in advance according to the steering, and the camera is driven to be turned in advance with the first predetermined angle；
It is described according to the actual steering angle and it is described steering judge information in advance, drive the camera to be turned to, packet
It includes:
According to the actual steering angle and it is described steering judge information in advance, drive the camera with the second predetermined angle into
Row turns to；Wherein, first predetermined angle is identical with the steering direction of second predetermined angle.
Optionally, described that Vehicular turn is judged in advance, it generates steering and judges information in advance, comprising:
Obtain the inertia traveling trace information of vehicle；
The steering, which is obtained, according to the inertia traveling trace information judges information in advance；
It is described according to the actual steering angle and it is described steering judge information in advance, drive the camera to carry out steering packet
It includes: when the steering judges that information and actual steering angle are inconsistent in advance, the camera being driven to be turned to.
Optionally, described that Vehicular turn is judged in advance, it generates steering and judges information in advance, comprising:
According to Vehicular turn modulating signal, generates the steering and judge information in advance.
Optionally, described according to the actual steering angle and the steering judges information in advance, drive camera progress
It turns to, comprising:
Information is judged in advance according to the actual steering angle and the steering, drives the camera to the direction far from car body
It turns to.
Second aspect, the embodiment of the invention also provides a kind of control system of vehicle-mounted camera, including Vehicular turn are pre-
Judgment module, vehicle steering angle obtain module, control host, rotating mechanism and camera；
The pre- judgment module of Vehicular turn and the vehicle steering angle obtain module and connect respectively with the control host,
The control host is connect with the rotating mechanism, and the camera is arranged on the rotating mechanism；
The pre- judgment module of Vehicular turn generates steering and judges information in advance for being judged in advance Vehicular turn；Institute
It states vehicle steering angle and obtains the actual steering angle that module is used to obtain vehicle；The control host is used for according to the actual steering
Angle and the steering judge information in advance, the rotating mechanism are driven, so that the camera is turned to.
It optionally, further include vehicle localization module and mapping module, the vehicle localization module and the mapping module divide
It is not connect with the pre- judgment module of the Vehicular turn, the vehicle localization module is for providing vehicle location information, the map
Module is for providing cartographic information；
The pre- judgment module of Vehicular turn is also used to be obtained locating for vehicle according to vehicle location information and cartographic information
Current lane information；According to the current lane information, generates the steering and judge information in advance.
Optionally, the control host is also used in the steering for getting the pre- judgment module offer of the Vehicular turn
After judging information in advance, information is judged in advance according to the steering, drives the rotating mechanism, so that the camera is default with first
Angle is turned in advance；
It is also used to after getting the vehicle steering angle and obtaining the actual steering angle information that module provides, according to the reality
Border steering angle and it is described steering judge information in advance, drive the rotating mechanism so that the camera with the second predetermined angle into
Row turns to；Wherein, first predetermined angle is identical with the steering direction of second predetermined angle.
It optionally, further include inertial navigation module, the inertial navigation module and the pre- judgment module of the Vehicular turn connect
It connects, the inertial navigation module is used to obtain the inertia traveling trace information of vehicle；
The pre- judgment module of Vehicular turn is also used to obtain the steering anticipation according to the inertia traveling trace information
Disconnected information；
The control host is also used to when the steering judges that information and actual steering angle are inconsistent in advance, and driving is described to be turned
Motivation structure, so that the camera is turned to.
It optionally, further include turn signal signal acquisition module, the turn signal obtains module and the Vehicular turn prejudges
Disconnected module connection, the turn signal signal acquisition module is for providing Vehicular turn modulating signal；
The pre- judgment module of Vehicular turn is also used to generate the pre- judgement of the steering according to the Vehicular turn modulating signal
Information.
Optionally, the control host is used to judge information in advance according to the actual steering angle and the steering, drives institute
Rotating mechanism is stated, so that the camera is turned to, comprising:
The control host drives the rotating machine for judging information in advance according to the actual steering angle and the steering
Structure, so that directional steering of the camera to separate car body.
The present invention generates steering and judges information in advance, then according to the vehicle of acquisition by being judged in advance Vehicular turn
Actual steering angle and turn to and judge information in advance, drive camera to be turned to, drive can be passed through under Vehicular turn scene
Dynamic camera turns to, and obtains the visual field for meeting observation demand, solves the camera in field of excursion direction in the case where turning to scene, take the photograph
As the visual field that head acquires has viewing blind zone, the control method and control of vehicle-mounted camera provided in an embodiment of the present invention
System can effectively assist driver turn to the observation in the visual field, help to improve the safety of driving.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the control method of vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 2 is the visual field acquisition visual angle schematic diagram of vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 3 is the visual field acquisition visual angle schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the control method of another vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 5 is a kind of vehicle lane information schematic diagram provided in an embodiment of the present invention；
Fig. 6 is the flow chart of the control method of another vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 7 is the flow chart of the control method of another vehicle-mounted camera provided in an embodiment of the present invention；
Fig. 8 is vehicle driving trace schematic diagram provided in an embodiment of the present invention；
Fig. 9 is a kind of structural schematic diagram of vehicle-mounted camera control system provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of another vehicle-mounted camera control system provided in an embodiment of the present invention；
Figure 11 is the control system architecture schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention；
Figure 12 is the control system architecture schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention；
Figure 13 is the control system architecture schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 is a kind of flow chart of the control method of vehicle-mounted camera provided in an embodiment of the present invention, with reference to Fig. 1, the vehicle
Carry camera control method include:
S110, Vehicular turn is judged in advance, generates steering and judges information in advance；
Wherein, when driving, the visual field observed needed for driver when turning to driving is compared to meeting of driving a vehicle of keeping straight on for vehicle
Apparent variation occurs, therefore the steering of vehicle can be judged in advance, is mentioned when the vehicle is turning for control vehicle-mounted camera
The visual field for meeting observation demand is prepared.Turn to the necessary letter for the go to action for judging that information refers to that vehicle will carry out in advance
Breath, may include steering direction and inertia wheelpath of vehicle of vehicle etc. illustratively.
S120, the actual steering angle for obtaining vehicle；
After the pre- deterministic process of steering for carrying out vehicle, vehicle may be turned to actually, by the reality for obtaining vehicle
The actual steering information of vehicle can be obtained in border steering angle.Specifically, the actual steering angle for obtaining vehicle can be by from vehicle
Steering angle data is intercepted in control bus.
S130, judge information in advance according to actual steering angle and steering, driving camera is turned to.
After obtaining steering and judging information and actual steering angle in advance, it may determine that the driving states of vehicle at this time, it is exemplary
Ground, when actual steering angle judges that information is identical in advance with steering, it can be determined that vehicle is in normal driving steering state, this
When, the corresponding steering state needs that camera is driven to be turned to, and meets the visual field of observation demand to acquire and is supplied to driver.
The control method of vehicle-mounted camera provided in an embodiment of the present invention is generated by being judged in advance Vehicular turn
Steering judge information in advance, then according to the actual steering angle of the vehicle of acquisition and turn to it is pre- judge information, drive camera into
Row turns to, and can be turned to by driving camera under Vehicular turn scene, obtain the visual field for meeting observation demand, solved solid
The camera in visual field direction is determined in the case where turning to scene, and the visual field of camera acquisition has viewing blind zone, and the present invention is implemented
The control method for the vehicle-mounted camera that example provides can effectively assist driver turn to the observation in the visual field, help to improve
The safety of driving.
Fig. 2 is the visual field acquisition visual angle schematic diagram of vehicle-mounted camera provided in an embodiment of the present invention, and Fig. 3 is implementation of the present invention
The visual field for another vehicle-mounted camera that example provides acquires visual angle schematic diagram, referring to figs. 2 and 3, wherein black region is installation
In the acquisition area of visual field of the camera of vehicle right front ends.It should be noted that vehicle-mounted camera is under normal driving states,
The visual field observed by it is usually in front of the side or visual field at side rear as shown in Figure 2, in order to monitor the front and back visual field of vehicle,
Or the visual field of front and back, the field area of side acquisition positive for vehicle can be reduced in order to balance, vehicle-mounted camera is turning to
When, the required visual field observed more is that the visual field of the positive side of vehicle should be by the view of camera when turning to webcam driver
Open country is deflected to the positive side of vehicle, i.e., camera view as shown in Figure 3 acquires visual angle, therefore optionally, according to actual steering angle
Information is judged in advance with turning to, driving camera is turned to, comprising: information is judged in advance according to actual steering angle and steering, is driven
Directional steering of the camera to separate car body.
Further, the embodiment of the present invention is directed to the walking direction of Vehicular turn, provides another vehicle-mounted camera
Control method, Fig. 4 are the flow charts of the control method of another vehicle-mounted camera provided in an embodiment of the present invention, should with reference to Fig. 4
The control method of vehicle-mounted camera includes:
S210, according to vehicle location information and cartographic information, obtain current lane information locating for vehicle；
Wherein, vehicle location information can be realized by accurately positioning system, illustratively, can use GPS positioning
System knows the current positioning of vehicle, follows the high-accuracy position system it is possible to further use network RTK, realizes vehicle position
The other positioning of sub- rice or Centimeter Level set then combines the lane information on map, obtains current lane information locating for vehicle.
S220, according to current lane information, generate to turn to and judge information in advance；
Fig. 5 is that a kind of vehicle lane information schematic diagram provided in an embodiment of the present invention with reference to Fig. 5 illustratively, works as acquisition
To after current lane information locating for vehicle, left-lane or other lanes as shown in Figure 5 can be currently located at according to vehicle,
And when being located at the positions such as crossroad, can the go to action to vehicle judged in advance, to obtain left-hand rotation or right-hand rotation
Information is judged in advance.
S230, the actual steering angle for obtaining vehicle；
S240, judge information in advance according to actual steering angle and steering, driving camera is turned to.
After getting vehicle actual steering angle, further according to the pre- judgement turned left or turned right, whether vehicle can be known
It is turned to according to the go to action judged in advance, camera can be driven to carry out to the visual field needed for preset normal direction of rotation at this time
It turns to.
Wherein, it is getting the actual steering angle of vehicle and is judging that vehicle judges that information is turned according to the steering of vehicle in advance
To the step of after, then when camera being driven to be turned to, be easy delay camera and the visual field of vehicle side acquired, therefore is optional
Ground, the embodiment of the invention also provides a kind of control method of vehicle-mounted camera, Fig. 6 be it is provided in an embodiment of the present invention another
The flow chart of the control method of vehicle-mounted camera, with reference to Fig. 6, the control method of the vehicle-mounted camera includes:
S310, according to vehicle location information and cartographic information, obtain current lane information locating for vehicle；
S320, according to current lane information, generate to turn to and judge information in advance；
S330, judge information in advance according to steering, driving camera is turned in advance with the first predetermined angle；
Wherein, it is intended to and obtains turn to pre- judgement letter when judging that vehicle exists to turn to according to vehicle location and cartographic information
After breath, camera can be turned in advance, it is slow to avoid camera rotating mechanism velocity of rotation, turning to improve camera
To when the visual field of required observation is acquired in time.
S340, the actual steering angle for obtaining vehicle；
S350, judge information in advance according to actual steering angle and steering, driving camera is turned to the second predetermined angle；
Wherein, the first predetermined angle is identical with the steering direction of the second predetermined angle.
Actual steering angle is being got, and is judging the actual go to action of vehicle and turn to judge that information is coincide in advance
When, it needs further to turn to the camera that pre- steering has been carried out, to obtain more reasonable field of view, at this time
Camera continues angle i.e. the second predetermined angle turned to should be with the angle i.e. steering direction phase of the first predetermined angle that turns in advance
Together.
By the pre- steering of pre- judgement and camera to Vehicular turn, driver when can make camera Vehicular turn
Required field of view is prepared, and the slower problem of camera rotating mechanism driving turning velocity is avoided, to provide in time
Field of view when Vehicular turn.Herein it should be noted that ought not get actual steering angle or work as actual steering
Angle and turning to when judging that information misfits, the camera turned in advance can be reverted at this time in advance field-of-view angle when normal driving or
Person turns to according to the corresponding steering scene driving camera of actual steering angle, herein with no restriction.
In addition to carrying out pre- judgement to the steering direction of vehicle using positioning and map, can also wheelpath to vehicle into
The pre- judgement of row, and the current driving states of vehicle are determined by actual steering angle again, camera is driven with the corresponding driving states
It is turned to, obtains the visual field of vehicle side.Fig. 7 is the control method of another vehicle-mounted camera provided in an embodiment of the present invention
Flow chart, with reference to Fig. 7, the control method of the vehicle-mounted camera includes:
S410, the inertia traveling trace information for obtaining vehicle；
Wherein inertia traveling trace information is is counted according to the current Inertia information of the current driving states of vehicle and vehicle
The navigation path obtained is calculated, which is the track that the vehicle of prediction will travel.Fig. 8 is implementation of the present invention
The vehicle driving trace schematic diagram that example provides, obtains this by the driving states of vehicle and the Inertia information of vehicle with reference to Fig. 8
When the wheelpath that will advance of the vehicle.Inertia traveling trace information can use Inertial Measurement Unit (Inertial
Measurement unit, IMU) guidance system come calculate obtain.
S420, information is judged according to the acquisition steering of inertia traveling trace information in advance；
Pre- judgement information using the inertia traveling trace information of vehicle as Vehicular turn, as shown in figure 8, the anticipation of the vehicle
Disconnected information is the left-turning traffic state that vehicle is in certain radian according to inertia.
S430, the actual steering angle for obtaining vehicle；
S440, turn in advance judge information and inconsistent actual steering angle when, drive camera turned to.
With continued reference to Fig. 8, when vehicle reaches A point, the actual steering angle got is that vehicle is turned to the driving of B point,
Vehicle be in a state of emergency under steering, i.e., actual steering with turn to judge that information is inconsistent in advance, camera is needed to vehicle at this time
Steering in emergency situations provides the visual field, it is therefore desirable to camera be driven to be turned to.
It further include a variety of emergency turn scenes, illustratively, in vehicle in addition to the scene of vehicle emergency turn shown in Fig. 8
When carrying out emergency turn during straight trip, the inertia traveling trace information navigation path obtained of vehicle is straight line, and
When receiving actual steering angle, illustrate that vehicle is in urgent steering state, camera needs to turn to provide body side at this time
The visual field of side.
In addition to the above-mentioned pre- judgement using lane information and inertia traveling trace information to carry out Vehicular turn, may be used also
To be judged simply by Vehicular turn modulating signal, therefore optionally, Vehicular turn is judged in advance, generates and turn to
Judge information in advance, may also include that according to Vehicular turn modulating signal, generates steering and judge information in advance.Wherein, vehicle turn signal is obtained
The mode that signal can equally intercept vehicle turn signal signal in the control bus of vehicle obtains.
The embodiment of the invention also provides a kind of control system of vehicle-mounted camera, Fig. 9 is provided in an embodiment of the present invention
A kind of structural schematic diagram of vehicle-mounted camera control system, with reference to Fig. 9, the control system of the vehicle-mounted camera includes Vehicular turn
Pre- judgment module 11, vehicle steering angle obtain module 12, control host 13, rotating mechanism 14 and camera 15；Vehicular turn is pre-
Judgment module 11 and vehicle steering angle obtain module 12 and connect respectively with control host 13, and control host 13 and rotating mechanism 14 connect
It connects, camera 15 is arranged on rotating mechanism 14；The pre- judgment module 11 of Vehicular turn is raw for being judged in advance Vehicular turn
Information is judged in advance at turning to；Vehicle steering angle obtains the actual steering angle that module 12 is used to obtain vehicle；Control host 13 is used for
Information is judged in advance according to actual steering angle and steering, rotating mechanism 14 is driven, so that camera 15 is turned to.Wherein, it images
First 15 realizations turned to, which are usually fixed, to be mounted on rotating mechanism 14, is carried out turning to 15 turns of camera of drive by rotating mechanism 14
To.
The control system of vehicle-mounted camera provided in an embodiment of the present invention, can be by the pre- judgment module of Vehicular turn to vehicle
Steering judged in advance, is generated to turn to and judge information in advance, then judges information and vehicle according to steering is pre- by control host
Steering angle obtains the actual steering angle for the vehicle that module obtains, and driving rotating mechanism drives camera to be turned to, so that vehicle
It can be turned to by driving camera in the case where turning to scene, obtain the visual field for meeting observation demand, solve field of excursion direction
Camera in the case where turning to scene, camera acquisition the visual field there are problems that viewing blind zone, vehicle provided in an embodiment of the present invention
The control system for carrying camera can effectively assist driver turn to the observation in the visual field, help to improve the safety of driving
Property.
With continued reference to Fig. 9, optionally, control host 13 is used to judge information in advance according to actual steering angle and steering, drives
Rotating mechanism 14, so that directional steering of the camera 15 to separate car body.
Figure 10 is the structural schematic diagram of another vehicle-mounted camera control system provided in an embodiment of the present invention, with reference to figure
10, similarly, in the control system of vehicle-mounted camera, under normal direction of rotation mode, the control system of vehicle-mounted camera
It may also include vehicle localization module 16 and mapping module 17, vehicle localization module 16 and mapping module 17 are pre- with Vehicular turn respectively
Judgment module 11 connects, and vehicle localization module 16 is for providing vehicle location information, and mapping module 17 is for providing cartographic information；
The pre- judgment module 11 of Vehicular turn is also used to obtain the letter of current lane locating for vehicle according to vehicle location information and cartographic information
Breath；According to current lane information, generates steering and judge information in advance.
0 is continued to refer to figure 1, control host 13 can also be used in the steering for getting the pre- offer of judgment module 11 of Vehicular turn
After judging information in advance, information is judged in advance according to turning to, drives rotating mechanism 14, so that camera 15 is with the progress of the first predetermined angle
It is pre- to turn to；It is also used to after getting vehicle steering angle and obtaining the actual steering angle information that module 12 provides, according to actual steering
Angle and steering judge information in advance, rotating mechanism 14 are driven, so that camera 15 is turned to the second predetermined angle；Wherein,
One predetermined angle is identical with the steering direction of the second predetermined angle.
Figure 11 is the control system architecture schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention, with reference to figure
11, optionally, which further includes inertial navigation module 18, inertial navigation module 18 and the pre- judgment module of Vehicular turn
11 connections, inertial navigation module 18 are used to obtain the inertia traveling trace information of vehicle；The pre- judgment module 11 of Vehicular turn is also used
Information is judged in advance in obtaining to turn to according to inertia traveling trace information；Control host 13 be also used to turn in advance judge information and
When actual steering angle is inconsistent, rotating mechanism 14 is driven, so that camera 15 is turned to.
Figure 12 is the control system architecture schematic diagram of another vehicle-mounted camera provided in an embodiment of the present invention, with reference to figure
12, optionally, the control system of the vehicle-mounted camera further includes turn signal signal acquisition module 19, turn signal obtain module 19 with
The pre- judgment module 11 of Vehicular turn connects, and turn signal signal acquisition module 19 is for providing Vehicular turn modulating signal；Vehicular turn
Pre- judgment module 11 is also used to generate steering according to Vehicular turn modulating signal and judge information in advance.
It should be noted that turning to scene for different vehicle, need to be judged using corresponding functional module, into one
Step ground, Figure 13 is the structural schematic diagram of the control system of another vehicle-mounted camera provided in an embodiment of the present invention, such as Figure 13 institute
Show, which includes that vehicle localization module 16, mapping module 17, inertial navigation module 18 and turn signal obtain
Modulus block 19 obtains steering by each module and judges information in advance, realizes that more accurately steering is pre- and judges, thus in Vehicular turn feelings
It can be turned to by driving camera under scape, obtain the visual field for meeting observation demand, the camera for solving field of excursion direction exists
It turns under scene, the visual field of camera acquisition has viewing blind zone.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (12)
1. a kind of control method of vehicle-mounted camera characterized by comprising
Vehicular turn is judged in advance, steering is generated and judges information in advance；
Obtain the actual steering angle of vehicle；
Information is judged in advance according to the actual steering angle and the steering, and the camera is driven to be turned to.
2. the control method of vehicle-mounted camera according to claim 1, which is characterized in that described to be carried out in advance to Vehicular turn
Judgement generates steering and judges information in advance, comprising:
According to vehicle location information and cartographic information, current lane information locating for vehicle is obtained；
According to the current lane information, generates the steering and judge information in advance.
3. the control method of vehicle-mounted camera according to claim 2, which is characterized in that described according to the current lane
Information, the generation steering are judged in advance after information, further includes:
Information is judged in advance according to the steering, and the camera is driven to be turned in advance with the first predetermined angle；
It is described according to the actual steering angle and it is described steering judge information in advance, drive the camera to be turned to, comprising:
Information is judged in advance according to the actual steering angle and the steering, and the camera is driven to be turned with the second predetermined angle
To；Wherein, first predetermined angle is identical with the steering direction of second predetermined angle.
4. the control method of vehicle-mounted camera according to claim 1, which is characterized in that described to be carried out in advance to Vehicular turn
Judgement generates steering and judges information in advance, comprising:
Obtain the inertia traveling trace information of vehicle；
The steering, which is obtained, according to the inertia traveling trace information judges information in advance；
It is described according to the actual steering angle and it is described steering judge information in advance, drive the camera carry out steering include:
When the steering judges that information and actual steering angle are inconsistent in advance, the camera is driven to be turned to.
5. the control method of vehicle-mounted camera according to claim 1, which is characterized in that described to be carried out in advance to Vehicular turn
Judgement generates steering and judges information in advance, comprising:
According to Vehicular turn modulating signal, generates the steering and judge information in advance.
6. the control method of vehicle-mounted camera according to claim 1, which is characterized in that described according to the actual steering
Angle and the steering judge information in advance, and the camera is driven to be turned to, comprising:
Information is judged in advance according to the actual steering angle and the steering, and the camera is driven to turn to the direction far from car body
To.
7. a kind of control system of vehicle-mounted camera, which is characterized in that obtained including the pre- judgment module of Vehicular turn, vehicle steering angle
Modulus block, control host, rotating mechanism and camera；
The pre- judgment module of Vehicular turn and the vehicle steering angle obtain module and connect respectively with the control host, described
Control host is connect with the rotating mechanism, and the camera is arranged on the rotating mechanism；
The pre- judgment module of Vehicular turn generates steering and judges information in advance for being judged in advance Vehicular turn；The vehicle
Steering angle obtains the actual steering angle that module is used to obtain vehicle；The control host be used for according to the actual steering angle and
The steering judges information in advance, the rotating mechanism is driven, so that the camera is turned to.
8. the control system of vehicle-mounted camera according to claim 7, which is characterized in that further include vehicle localization module and
Mapping module, the vehicle localization module and the mapping module are connect with the pre- judgment module of the Vehicular turn respectively, described
Vehicle localization module is for providing vehicle location information, and the mapping module is for providing cartographic information；
The pre- judgment module of Vehicular turn is also used to be obtained current locating for vehicle according to vehicle location information and cartographic information
Lane information；According to the current lane information, generates the steering and judge information in advance.
9. the control system of vehicle-mounted camera according to claim 8, which is characterized in that the control host is also used to
It gets after the steering that the pre- judgment module of the Vehicular turn provides judges information in advance, according to the pre- judgement letter of the steering
Breath, drives the rotating mechanism, so that the camera is turned in advance with the first predetermined angle；
It is also used to after getting the vehicle steering angle and obtaining the actual steering angle information that module provides, is turned according to the reality
Information is judged in advance to angle and the steering, the rotating mechanism is driven, so that the camera is turned with the second predetermined angle
To；Wherein, first predetermined angle is identical with the steering direction of second predetermined angle.
10. the control system of vehicle-mounted camera according to claim 7, which is characterized in that it further include inertial navigation module,
The inertial navigation module is connect with the pre- judgment module of the Vehicular turn, and the inertial navigation module is used to obtain the used of vehicle
Property driving trace information；
The pre- judgment module of Vehicular turn is also used to obtain the pre- judgement letter of the steering according to the inertia traveling trace information
Breath；
The control host is also used to drive the rotating machine when the steering judges that information and actual steering angle are inconsistent in advance
Structure, so that the camera is turned to.
11. the control system of vehicle-mounted camera according to claim 7, which is characterized in that further include turning to modulating signal to obtain
Modulus block, the turn signal obtain module and connect with the pre- judgment module of the Vehicular turn, the turn signal signal acquisition module
For providing Vehicular turn modulating signal；
The pre- judgment module of Vehicular turn is also used to generate the pre- judgement letter of the steering according to the Vehicular turn modulating signal
Breath.
12. the control system of vehicle-mounted camera according to claim 7, which is characterized in that the control host is used for root
Information is judged in advance according to the actual steering angle and the steering, drives the rotating mechanism, so that the camera is turned to,
Include:
The control host be used for according to the actual steering angle and it is described steering judge information in advance, drive the rotating mechanism,
So that directional steering of the camera to separate car body.
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