CN111497732B - Automobile lamp control method, device, control equipment, system and storage medium - Google Patents
Automobile lamp control method, device, control equipment, system and storage medium Download PDFInfo
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- CN111497732B CN111497732B CN201910100005.4A CN201910100005A CN111497732B CN 111497732 B CN111497732 B CN 111497732B CN 201910100005 A CN201910100005 A CN 201910100005A CN 111497732 B CN111497732 B CN 111497732B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Computer Vision & Pattern Recognition (AREA)
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- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The embodiment of the invention provides a method, a device, control equipment, a system and a storage medium for controlling an automobile lamp, wherein the method comprises the following steps: acquiring a current video frame of an area in front of the running of the automobile shot by a vehicle-mounted camera; determining a region of interest in a current video frame; counting the number of first pixel points with the brightness value not greater than a preset brightness value in the region of interest as a first number; judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number and the total number of the pixel points in the region of interest; and if the scene is dark, controlling the lamps of the automobile to be started. By adopting the scheme provided by the embodiment of the invention to control the automobile lamp, the influence on normal driving caused by forgetting to turn on the automobile lamp can be prevented, the shape of a building does not need to be judged, and the automobile lamp is controlled according to the brightness, so that the phenomenon of mistakenly turning on the automobile lamp is reduced, and the accuracy of controlling the automobile lamp is improved.
Description
Technical Field
The present invention relates to the field of control technologies, and in particular, to a method, an apparatus, a control device, a system, and a storage medium for controlling an automotive lamp.
Background
This kind of road conditions in tunnel often can be met in some mountainous areas, and the driver can appear stronger dark adaptation phenomenon when getting into the tunnel daytime, makes driver's eye front a piece dark, and if the car light was not opened in time this moment, then had great potential safety hazard.
An existing method for controlling the turning on of an automobile lamp comprises the following steps: the radar is installed at the top of the automobile, when the radar detects that the automobile runs in the front of a square or arched building, the fact that a tunnel exists in the running front is judged, and at the moment, the controller of the automobile controls the automobile lamp to be turned on.
However, the inventor finds that the prior art has at least the following problems in the process of implementing the invention: since many objects in the actual operating environment of an automobile have a similar structure to a tunnel, for example, some vehicles or buildings. When the car traveles the place ahead and has these objects, above-mentioned controller also can control the car light and open to lead to the car to go the place ahead and do not have the mistake when the tunnel and open the car light, that is to say, the rate of accuracy is lower when using above-mentioned mode control car light to open, and user experience is relatively poor.
Disclosure of Invention
The embodiment of the invention aims to provide a method, a device, a control device, a system and a storage medium for controlling an automobile lamp, so as to improve the accuracy of controlling the automobile lamp and further improve the user experience. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for controlling an automobile lamp, where the method includes:
acquiring a current video frame of an area in front of the running of the automobile shot by a vehicle-mounted camera;
determining a region of interest in the current video frame;
counting the number of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first number;
judging whether the scene in front of the running automobile is a dark scene or not according to the first number and the total number of the pixel points in the region of interest;
and if the scene is dark, controlling the automobile lamp of the automobile to be started.
Optionally, the determining, according to the first number and the total number of the pixel points in the region of interest, whether the scene in front of the vehicle is a dark scene includes:
and judging whether the ratio of the first quantity to the total quantity of the pixel points in the region of interest is larger than a first preset ratio or not, and if so, judging that the scene in front of the automobile is a dark scene.
Optionally, in a case that a ratio of the first number to the total number of pixels in the region of interest is greater than a first preset ratio, the method further includes:
counting the number of pixel points in a preset direction in the region of interest in the first pixel points as a second number;
judging whether the ratio of the second quantity to the first quantity is larger than a second preset ratio or not;
and if the ratio is larger than a second preset ratio, executing the step of controlling the turning on of the automobile lamp of the automobile.
Optionally, the determining the region of interest in the current video frame includes:
identifying a blanking line in the current video frame;
and determining the region of interest in the current video frame according to the position of the blanking line in the current video frame.
Optionally, the determining, according to the position of the blanking line in the current video frame, a region of interest in the current video frame includes:
and determining a region in the current video frame, which is symmetrical relative to the blanking line in the vertical direction and is centered in the current video frame in the horizontal direction, as a region of interest in the current video frame.
Optionally, before the determining, according to the first number and the total number of the pixel points in the region of interest, whether the scene in front of the vehicle is a dark-light scene, the method further includes:
obtaining the number of pixel points of which the brightness value in the region of interest of each video frame is not more than the preset brightness value in a first type of video as a third number, wherein the first type of video is as follows: a video formed by a preset number of video frames adjacent to the current video frame;
counting the total number of pixel points in the region of interest of each video frame in the first type of video as a fourth number;
selecting video frames of which the ratio of the third quantity to the fourth quantity is greater than a third preset ratio from all the video frames of the first type of video as first video frames;
the judging whether the scene in front of the automobile running is a dark scene or not according to the first number and the total number of the pixel points in the region of interest comprises the following steps:
and judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
In a second aspect, an embodiment of the present invention further provides an automotive lamp control device, where the device includes:
the system comprises a video frame acquisition unit, a video frame acquisition unit and a video frame acquisition unit, wherein the video frame acquisition unit is used for acquiring a current video frame of an area in front of the running of the automobile, which is shot by a vehicle-mounted camera;
a region determining unit, configured to determine a region of interest in the current video frame;
the first quantity counting unit is used for counting the quantity of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first quantity;
the scene judging unit is used for judging whether the scene in front of the automobile running is a dark scene or not according to the first quantity and the total quantity of the pixel points in the interested region;
and the first vehicle lamp control unit is used for controlling the vehicle lamp of the vehicle to be turned on when the judgment result of the scene judgment unit is yes.
Optionally, the scene determining unit is specifically configured to:
and judging whether the ratio of the first quantity to the total quantity of the pixel points in the region of interest is larger than a first preset ratio or not, and if so, judging that the scene in front of the automobile is a dark scene.
Optionally, the apparatus further comprises:
a second quantity counting unit, configured to count, as a second quantity, the number of pixels located in a preset orientation in the region of interest among the first pixels when a ratio of the first quantity to the total quantity of pixels in the region of interest is greater than a first preset ratio;
a first quantity ratio judgment unit for judging whether the ratio of the second quantity to the first quantity is greater than a second preset ratio;
and the second car light control unit is used for executing the step of controlling the car light of the car to be turned on when the judgment result of the first quantity ratio judgment unit is yes.
Optionally, the area determining unit includes:
a hidden line identifying subunit, configured to identify a hidden line in the current video frame;
and the area determining subunit is used for determining an area of interest in the current video frame according to the position of the blanking line in the current video frame.
Optionally, the region determining subunit is specifically configured to:
and taking a region which is symmetrical in the vertical direction relative to the blanking line and is centered in the current video frame in the horizontal direction in the current video frame as a region of interest in the current video frame.
Optionally, the apparatus further comprises:
a third quantity counting unit, configured to obtain, as a third quantity, the quantity of pixel points whose brightness values in the region of interest of each video frame are not greater than the preset brightness value in a first type of video, where the first type of video is: a video formed by a preset number of video frames adjacent to the current video frame;
a third quantity counting unit, configured to count the total quantity of pixels in the region of interest of each video frame in the first type of video, as a fourth quantity;
a video frame selecting unit, configured to select, as a first video frame, a video frame in which a ratio of the third number to the fourth number is greater than a third preset ratio from among video frames of the first type of video;
the scene determination unit is specifically configured to: and judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
In a third aspect, an embodiment of the present invention provides a control device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the bus; the memory is used for storing a computer program; the processor is configured to execute the program stored in the memory to implement the method steps of the first aspect.
In a fourth aspect, an embodiment of the present invention provides an automobile lamp control system, including an image acquisition device and a control device;
the image acquisition equipment is used for acquiring a video frame of an area in front of the running of the automobile and sending the acquired video frame to the control equipment;
the control device is used for receiving the video frame sent by the image acquisition device, determining an interested area in the video frame, counting the number of first pixel points with brightness values not greater than a preset brightness value in the interested area as a first number, judging whether a scene in front of the running of the automobile is a dark scene or not according to the first number and the total number of the pixel points in the interested area, and controlling the automobile lamp of the automobile to be turned on if the scene is the dark scene.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of the first aspect.
When the scheme provided by the embodiment of the invention is used for controlling the automobile lamp, the interested area in the current video frame is determined by acquiring the current video frame of the area in front of the automobile driving, which is shot by the vehicle-mounted camera, the interested area is the area with a larger reference value for judging whether the scene with dark light, such as a tunnel, exists in front of the automobile driving, the number of first pixel points with the brightness value not greater than the preset brightness value in the interested area is counted as the first number, then the scene in front of the automobile driving is judged whether to be the scene with dark light or not according to the first number and the total number of the pixel points in the interested area, if the scene with dark light is judged, the automobile lamp is controlled to be turned on, so that the influence on normal driving caused by forgetting to turn on the automobile lamp by a driver can be prevented, in addition, the scheme provided by the embodiment of the invention does not need to judge the shape of a building, but controls the automobile lamp according to the brightness, the phenomenon of mistakenly starting the car lamp is reduced, the accuracy of car lamp control is improved, and the user experience is better.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a first schematic flow chart of a vehicle lamp control method according to an embodiment of the present invention;
FIG. 2 is a second flowchart of a control method for a vehicle lamp according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of selecting a region of interest in an embodiment of the present invention;
FIG. 4 is a third flowchart illustrating a method for controlling a lamp of an automobile according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an automotive lamp control device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In order to improve the accuracy of controlling the vehicle lights and improve the user experience, the embodiment of the invention provides a vehicle light control method, a vehicle light control device, a vehicle light control system and a storage medium, wherein a current video frame of a driving front area of a vehicle shot by a vehicle-mounted camera is obtained, an interested area in the current video frame is determined, the number of first pixel points with the brightness value not greater than a preset brightness value in the interested area is counted to be used as a first number, whether the driving front area of the vehicle is a dark light scene or not is judged according to the first number and the total number of the pixel points in the interested area, if the driving front area of the vehicle is the dark light scene, the vehicle lights of the vehicle are controlled to be turned on, so that the normal driving of the vehicle can be prevented from being influenced by forgetting to turn on the vehicle lights, the shape of a building does not need to be judged, the vehicle lights are controlled according to the brightness, and the phenomenon of turning on the vehicle lights by mistake is reduced, the accuracy rate of controlling the car lamp is improved, and the user experience is better.
The following first describes a control method for an automotive lamp according to an embodiment of the present invention.
It should be noted that the control method for the vehicle lamp provided by the embodiment of the present invention can be applied to the vehicle industry, for example, the fields of vehicle auxiliary driving, vehicle automatic driving, and the like.
As shown in fig. 1, the method for controlling the vehicle lamp provided by the embodiment of the present invention includes the following steps:
s110: and acquiring a current video frame of an area in front of the running of the automobile, which is shot by the vehicle-mounted camera.
The execution main body of the automobile lamp control method of the embodiment of the invention may be a control device mounted on an automobile. In the embodiment of the present invention, the vehicle-mounted camera in step S110 may be a vehicle-mounted camera in front of the vehicle. The control device may be electrically connected with the onboard camera to acquire a current video frame of an area ahead of the vehicle in driving from the onboard camera.
S120: a region of interest in a current video frame is determined.
The region of interest may be a region having a characteristic in the current video frame. For example, in a current video frame of an area ahead of a vehicle, which is captured by an onboard camera, an area in which a road condition ahead of the vehicle is reflected is generally a characteristic area.
Since the automobile is in a straight-ahead state in most cases and the automobile generally runs at a more central position on the road, when the automobile is in the straight-ahead state and runs at the more central position on the road, the area near the middle position of the video frame in the video frame of the area in front of the automobile running shot by the vehicle-mounted camera generally reflects the road condition in front of the automobile running, so that the area near the middle position of the video frame in the current video frame can be used as the area of interest in the current video frame. For example, the centered area of the current video frame may be taken as the region of interest in the current video frame.
The size of the region of interest can be determined according to actual conditions such as the distance between the automobile and a tunnel in a light dark scene when the automobile lamp is controlled to be turned on, the size of a current video frame and the like. When the car light needs to be turned on earlier so that the car runs more safely, the distance between the car and dark scenes such as tunnels is usually far away when the car light is controlled to be turned on, and at the moment, the size of the region of interest in the current video frame can be as follows: a size not greater than a preset proportion of the current video frame size. When opening the car light in order to save energy more being close to light dark scene department, the distance of car and light dark scene such as tunnel is usually nearer when control car light is opened, and at this moment, the size of the region of interest in the current video frame can be: a size greater than a preset proportion of the size of the current video frame. The preset ratio may be any one of 1/8-1/3, or other values not greater than 1, for example, and the embodiment of the invention is not limited in particular.
S130: and counting the number of first pixel points with the brightness value not greater than the preset brightness value in the region of interest as a first number.
The preset brightness value can be determined according to actual requirements. For example, the preset brightness value may be determined according to requirements for safety and energy saving. When the requirement on safety is high, the preset brightness value can be set to be high, so that the light can be turned on in time when the probability that the scene in front of the automobile is a dark scene exists; when the requirement on energy conservation is high, the preset brightness value can be set to be low, so that the automobile lamp is turned on when the probability that the scene in front of the automobile is dark is high.
In the embodiment of the present invention, the preset brightness value may be a brightness value capable of reflecting whether an actual scene is dark. In a video image, when the brightness value of a certain pixel point is smaller than 20-50 gray, the scene corresponding to the pixel point is darker, and when the pixel points in a certain area of a video frame are all smaller than 20-50 gray, the scene corresponding to the area is darker. Therefore, the preset brightness value in the embodiment of the invention can be any value in 20-50 gray scales.
Specifically, the control device may count the number of pixel points corresponding to each brightness value in the region of interest, and calculate the number of first pixel points having brightness values not greater than a preset brightness value in the region of interest as the first number according to the number of pixel points corresponding to each brightness value.
S140: and judging whether the scene in front of the running automobile is a dark scene according to the first quantity and the total quantity of the pixel points in the region of interest.
In one implementation, the control device may calculate a ratio of the first number to the total number of pixels in the region of interest in the current video frame, and determine whether the scene in front of the vehicle is a dark scene according to whether the ratio is greater than a first preset ratio. Specifically, step S140 can be implemented as following steps S141 to S142:
s141: judging that the ratio of the first number to the total number of pixels in the region of interest in the current video frame is greater than a first preset ratio;
s142: if so, judging that the scene in front of the automobile is a dark scene.
The first preset ratio can be set according to actual conditions, and specifically can be set according to the proportion of the area of interest to the size of the current video frame size, the distance between the automobile and light dark scenes such as a tunnel when the automobile lamp is controlled to be started and other factors. When the proportion of the area of interest to the size of the current video frame is large, the area of interest is large, at the moment, when the comparison between the first number in the area of interest and the total number of the pixel points in the area of interest is small, a dark scene usually appears before the automobile runs, under the condition, the first preset ratio can be set to be a small value, and the automobile lamp is turned on. If the distance that the car leaves light dark scenes such as tunnel is longer when control car light is opened, the car is just opening the car light when far away from the tunnel promptly to improve the security, at this moment, also can set up first predetermined ratio into less value.
Whether the scene in front of the automobile in driving is a dark scene or not is judged according to whether the ratio of the first number to the total number of the pixel points in the region of interest is larger than a first preset ratio or not, the calculation process is simple, the judgment result can be obtained more simply, and the efficiency of controlling the automobile is higher.
S150: and if the judgment result in the step S140 is yes, controlling the lamps of the automobile to be turned on.
When the control equipment judges that the scene in front of the automobile is a dark scene, the automobile lamps are controlled to be turned on, and the influence on normal driving caused by forgetting to turn on the automobile lamps by a driver can be prevented. When the control equipment judges that the scene in front of the automobile is not a dark scene, if the control equipment judges that the automobile lamp is in the on state at present, the automobile lamp can be controlled to be off.
When the automobile lamp is controlled, the method for controlling the automobile lamp provided by the embodiment of the invention counts the number of first pixel points with the brightness value not greater than the preset brightness value in the region of interest of the current video frame as the first number by acquiring the current video frame of the region in front of the automobile, and then judges whether the scene in front of the automobile is a dark scene according to the first number and the total number of the pixel points in the region of interest, and controls the automobile lamp of the automobile to be turned on if the scene is the dark scene, so that the influence on normal driving caused by forgetting to turn on the automobile lamp by a driver can be prevented.
In addition, the embodiment of the invention can judge whether light dark scenes such as tunnels exist in the front of the running automobile or not through the vehicle-mounted camera without the radar, and the cost for controlling the automobile lamp can be reduced due to the lower price of the vehicle-mounted camera relative to the radar. The embodiment of the invention can detect whether the tunnel in any shape exists in the front of the automobile in running or not according to the brightness, can also detect other light dark scenes except the tunnel in the front of the automobile in running, and has wider application range.
An image sensor is generally mounted on a vehicle to analyze an image captured by a vehicle-mounted camera. In one implementation, the control device may be an image sensor of an automobile, so that the automatic turning on of the automobile lamp in a dark scene can be realized without a special control device by using the image sensor of the automobile, and the cost for controlling the automobile lamp is further reduced.
In an implementation manner, as shown in fig. 2, in a case that a ratio of the first number to the total number of pixels in the region of interest in the current video frame is greater than a first preset ratio, the method may further include the following steps S160 to S180:
s160: counting the number of pixel points in a preset direction in an interested area in the current video frame in the first pixel points to serve as a second number;
s170: judging whether the ratio of the second quantity to the first quantity is greater than a second preset ratio or not;
if the judgment result of the step S170 is yes, the step of controlling the lamps of the automobile to be turned on in the step S150 is performed.
The preset orientation may be an orientation within a first region centered in a horizontal direction, or an orientation within a second region centered in a vertical direction, or an orientation within a third region centered in both the horizontal and vertical directions within the region of interest of the current video frame. The second preset ratio may be set according to an actual situation, and specifically, may be determined according to a specific position of the preset position in the region of interest. When the preset position is a position located in the first area or the second area, that is, the preset position is a position located in a center of the area of interest in the horizontal direction or a center of the area of interest in the vertical direction, the preset position only considers the position in one direction, and the range of the area where the preset position is located is allowed to be larger, in this case, the second preset ratio may be set to a larger value, for example, any value from 1/2 to 1; when the preset orientation is an orientation located in the third area, that is, the preset orientation is an orientation located in the area of interest and centered in both the horizontal direction and the vertical direction, the range of the area where the preset orientation is located is allowed to be small because the preset orientation considers the orientations in both the horizontal direction and the vertical direction, at this time, the second preset ratio may be set to be a small value, and at this time, for example, the second preset ratio may be set to any one of 1/4 to 1. The second predetermined ratio may also be other values not greater than 1, and the embodiment of the present invention is not particularly limited. In order to make the control of the car lights more accurate, the preset orientation may be an orientation in a third region centered in both the horizontal direction and the vertical direction within the region of interest of the current video frame.
When the ratio of the number of the pixel points in the preset position in the region of interest in the current video frame to the first number in the first pixel points is greater than the second preset ratio, it is described that the light dark scene is located in the preset position in front of the running vehicle, for example, the light dark scene is located in front of the running vehicle, or the deviation degree between the light dark scene and the front of the running vehicle is small, the vehicle lamp is controlled to be turned on at the moment, the phenomenon of mistakenly turning on the vehicle lamp can be further reduced, and the accuracy of controlling the vehicle lamp is improved.
In one implementation, step S120 may be implemented as steps S121 to S122 as follows:
s121: identifying a blanking line in a current video frame;
s122: and determining the region of interest in the current video frame according to the position of the blanking line in the current video frame.
The blanking lines are horizontal lines passing through the blanking points of the picture. The blanking point is a convergence point where parallel lines of the real world are projected behind the image plane. For example, when an automobile runs on a road, the convergence point of the edge lines of the two sides of the road projected on the image plane is a blanking point, such as the blanking point shown in fig. 3, and the horizontal line passing through the blanking point is a blanking line, such as the blanking line shown in fig. 3.
In one specific implementation, the control device may determine a region of the current video frame that includes a blanking line and a blanking point as a region of interest in the current video frame. In another specific implementation manner, as shown in fig. 3, the control device may determine, as the region of interest in the current video frame, a region in the current video frame, where the vertical direction is symmetrical with respect to the blanking line of the current video frame and the horizontal direction is centered in the current video frame, so that the determined region of interest may better reflect a scene right in front of the vehicle, and further improve the accuracy of controlling the vehicle lights.
For the current video frame of the area in front of the automobile, which is shot by the vehicle-mounted camera, the area containing the hidden line can better reflect the road condition of the road on which the automobile runs, and the area of interest in the current video frame, which is determined according to the position of the hidden line in the current video frame, can better reflect whether the front of the road on which the automobile runs is a dark area, so that the accuracy of controlling the automobile lamp is further improved.
In one implementation, as shown in fig. 4, before step S140, the method may further include the following steps S180 to S1100:
s180: obtaining the number of pixel points of which the brightness value in the region of interest of each video frame is not more than the preset brightness value in a first type of video as a third number, wherein the first type of video is as follows: and the video is formed by the previous preset number of video frames adjacent to the current video frame.
The preset number may be any value of 5 to 30, or may be other specific number values, and those skilled in the art may set the preset number according to actual situations, and the embodiment of the present invention is not particularly limited.
S190: and counting the total number of pixel points in the interested region of each video frame in the first type of video as a fourth number.
S1100: and selecting video frames of which the ratio of the third quantity to the fourth quantity is greater than a third preset ratio from the video frames of the first type of video as first video frames.
In the embodiment of the invention, for each video frame in the first type of video, if the ratio of the third number to the fourth number of the video frames is greater than a third preset ratio, it is indicated that the scene in front of the vehicle, which is reflected by the video frame, is a dark scene. The third predetermined ratio may be the same as the first predetermined ratio, or may be another ratio different from the first predetermined ratio, and the embodiment of the present invention is not limited in particular.
Accordingly, step S140 can be implemented as the following step S143:
s143: and judging whether the scene in front of the automobile in driving is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
Specifically, the control device may calculate a ratio of the first number to the total number of pixels in the region of interest in the current video frame, determine whether the ratio is greater than the first preset ratio, determine whether the ratio of the number of the first video frames to the total number of video frames included in the first type of video is greater than a fourth preset ratio if the ratio is greater than the first preset ratio, and determine that a scene in front of the vehicle is a dark scene if the ratio is greater than the fourth preset ratio. The fourth preset ratio may be any one of 1/2-1, or other ratios not greater than 1, and the larger the fourth preset ratio is set, the more accurate the judgment on whether the scene in front of the automobile is a dark scene is.
When the situation that the front of the automobile is a dark scene is preliminarily judged according to the current video frame, whether the front of the automobile is the dark scene or not is further judged according to the preset number of video frames adjacent to the current video frame, the misjudgment that the front of the automobile is the dark scene can be further reduced, and therefore the accuracy of controlling the automobile lamps is further improved.
An embodiment of the present invention further provides an automobile lamp control device, as shown in fig. 5, the device includes:
a video frame acquiring unit 210 for acquiring a current video frame of an area in front of a vehicle traveling, which is photographed by a vehicle-mounted camera;
a region determining unit 220, configured to determine a region of interest in the current video frame;
a first quantity counting unit 230, configured to count, as a first quantity, the quantity of first pixel points whose brightness values are not greater than a preset brightness value in the region of interest;
the scene judging unit 240 is configured to judge whether the scene in front of the vehicle is a dark scene according to the first number and the total number of the pixel points in the region of interest;
and the first vehicle lamp control unit 250 is configured to control a vehicle lamp of the vehicle to be turned on when the judgment result of the scene judgment unit is yes.
When the automobile lamp control device provided by the embodiment of the invention is used for controlling the automobile lamp, the current video frame of the area in front of the automobile driving, which is shot by the vehicle-mounted camera, is obtained, the number of the first pixel points of which the brightness value in the area of interest of the current video frame is not more than the preset brightness value is counted as the first number, and then whether the scene in front of the automobile driving is a light-dark scene or not is judged according to the first number and the total number of the pixel points in the area of interest, if the scene is the light-dark scene, the automobile lamp of the automobile is controlled to be turned on, so that the influence on normal driving caused by forgetting to turn on the automobile lamp by a driver can be prevented.
In an implementation manner, the scene determining unit 240 may specifically be configured to:
and judging whether the ratio of the first quantity to the total quantity of the pixel points in the region of interest is larger than a first preset ratio or not, and if so, judging that the scene in front of the automobile is a dark scene.
In one implementation, the apparatus may further include:
a second quantity counting unit, configured to count, as a second quantity, the number of pixels located in a preset orientation in the region of interest among the first pixels when a ratio of the first quantity to the total quantity of pixels in the region of interest is greater than a first preset ratio;
a first quantity ratio judgment unit for judging whether the ratio of the second quantity to the first quantity is greater than a second preset ratio;
and the second car light control unit is used for executing the step of controlling the car light of the car to be turned on when the judgment result of the first quantity ratio judgment unit is yes.
In one implementation, the area determining unit 220 may include:
a hidden line identifying subunit, configured to identify a hidden line in the current video frame;
and the area determining subunit is used for determining an area of interest in the current video frame according to the position of the blanking line in the current video frame.
In an implementation manner, the region determining subunit may be specifically configured to:
and taking a region which is symmetrical in the vertical direction relative to the blanking line and is centered in the current video frame in the horizontal direction in the current video frame as a region of interest in the current video frame.
In one implementation, the apparatus may further include:
a third quantity counting unit, configured to obtain, as a third quantity, the quantity of pixel points whose brightness values in the region of interest of each video frame are not greater than the preset brightness value in a first type of video, where the first type of video is: a video formed by a preset number of video frames adjacent to the current video frame;
a third quantity counting unit, configured to count the total number of pixels in the region of interest of each video frame in the first type of video, as a fourth quantity;
a video frame selecting unit, configured to select, as a first video frame, a video frame from among video frames of the first type of video, where a ratio of the third number to the fourth number is greater than a third preset ratio;
the scene determining unit 240 may specifically be configured to: and judging whether a scene in front of the running automobile is a dark scene or not according to the first number, the total number of pixels in the interested region in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
The embodiment of the present invention further provides a control device, as shown in fig. 6, which includes a processor 301, a communication interface 302, a memory 303 and a communication bus 304, where the processor 301, the communication interface 302 and the memory 303 complete mutual communication through the communication bus 304,
a memory 303 for storing a computer program;
the processor 301, when executing the program stored in the memory 303, implements the following steps:
acquiring a current video frame of an area in front of the running automobile shot by a vehicle-mounted camera;
determining a region of interest in the current video frame;
counting the number of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first number;
judging whether the scene in front of the automobile running is a dark scene or not according to the first quantity and the total quantity of the pixel points in the region of interest;
and if the scene is dark, controlling the lamps of the automobile to be started.
The control device provided by the embodiment of the invention can prevent the influence on normal driving caused by forgetting to turn on the automobile lamp when controlling the automobile lamp, and the control device provided by the embodiment of the invention controls the automobile lamp according to the brightness without judging the shape of a building, so that the phenomenon of mistakenly turning on the automobile lamp is reduced, the accuracy rate of controlling the automobile lamp is improved, and the user experience is better.
The communication bus mentioned above for the control device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the control device and other devices.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The embodiment of the invention also provides an automobile lamp control system, which comprises image acquisition equipment and control equipment; the image acquisition equipment is used for acquiring a video frame of an area in front of the running of the automobile and sending the acquired video frame to the control equipment;
the control device is used for receiving the video frame sent by the image acquisition device, determining an interested area in the video frame, counting the number of first pixel points with brightness values not greater than a preset brightness value in the interested area as a first number, judging whether a scene in front of the running of the automobile is a dark scene or not according to the first number and the total number of the pixel points in the interested area, and controlling the automobile lamp of the automobile to be turned on if the scene is the dark scene.
The image capturing device may be an onboard camera in front of the car. The control device may be a processor, and the control device may be specifically configured to acquire a video image acquired by the image acquisition device, analyze the acquired image, obtain an analysis result, and control the opening and closing of the vehicle lamp according to the analysis result.
The control device provided by the embodiment of the invention can prevent the influence on normal driving caused by forgetting to turn on the automobile lamp when the automobile lamp is controlled by the automobile lamp control system provided by the embodiment of the invention, and the control device provided by the embodiment of the invention controls the automobile lamp according to the brightness without judging the shape of a building, so that the phenomenon of mistakenly turning on the automobile lamp is reduced, the accuracy rate of controlling the automobile lamp is improved, and the user experience is better. In addition, the automobile lamp control system provided by the embodiment of the invention can judge whether light dark scenes such as tunnels exist in the front of the automobile in driving through the image acquisition equipment without radars, and the cost for controlling the automobile lamp can be reduced due to the fact that the image acquisition equipment is lower in price compared with radars. The embodiment of the invention can detect whether the tunnel in any shape exists in the front of the automobile in running or not according to the brightness, can also detect other light dark scenes except the tunnel in the front of the automobile in running, and has wider application range.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, where the computer program is executed by a processor to perform the following method steps:
acquiring a current video frame of an area in front of the running of the automobile shot by a vehicle-mounted camera;
determining a region of interest in the current video frame;
counting the number of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first number;
judging whether the scene in front of the running automobile is a dark scene or not according to the first number and the total number of the pixel points in the region of interest; and if the scene is dark, controlling the automobile lamp of the automobile to be started.
The storage medium provided by the embodiment of the invention can prevent the influence on normal driving caused by forgetting to turn on the vehicle lamp when the vehicle lamp of the automobile is controlled, and the control equipment provided by the embodiment of the invention controls the vehicle lamp according to the brightness without judging the shape of a building, so that the phenomenon of mistakenly turning on the vehicle lamp is reduced, the accuracy rate of controlling the vehicle lamp is improved, and the user experience is better.
For the device/control apparatus/control system/storage medium embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus/control device/system/storage medium embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and in relation to the description, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (13)
1. A method of controlling an automotive lamp, the method comprising:
acquiring a current video frame of an area in front of the running of the automobile shot by a vehicle-mounted camera;
determining a region of interest in the current video frame;
counting the number of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first number;
judging whether the scene in front of the running automobile is a dark scene or not according to the first number and the total number of the pixel points in the region of interest;
if the scene is dark, controlling the automobile lamp of the automobile to be started;
before the step of judging whether the scene in front of the automobile driving is a dark scene according to the first number and the total number of the pixel points in the region of interest, the method further comprises the following steps:
obtaining the number of pixel points with the brightness value not greater than the preset brightness value in the region of interest of each video frame in a first type of video as a third number, wherein the first type of video is as follows: a video formed by a preset number of video frames adjacent to the current video frame;
counting the total number of pixel points in the region of interest of each video frame in the first type of video as a fourth number;
selecting video frames of which the ratio of the third quantity to the fourth quantity is greater than a third preset ratio from all the video frames of the first type of video as first video frames;
the judging whether the scene in front of the automobile running is a dark scene or not according to the first number and the total number of the pixel points in the region of interest comprises the following steps:
and judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
2. The method of claim 1, wherein the determining whether the scene in front of the driving of the vehicle is a dark scene according to the first number and the total number of the pixel points in the region of interest comprises:
and judging whether the ratio of the first quantity to the total quantity of the pixel points in the region of interest is larger than a first preset ratio or not, and if so, judging that the scene in front of the automobile is a dark scene.
3. The method of claim 2, wherein in the case that the ratio of the first number to the total number of pixels in the region of interest is greater than a first preset ratio, the method further comprises:
counting the number of pixel points in the first pixel points, which are positioned in a preset direction in the region of interest, as a second number;
judging whether the ratio of the second quantity to the first quantity is larger than a second preset ratio or not;
and if the ratio is larger than a second preset ratio, executing the step of controlling the turning on of the automobile lamp of the automobile.
4. The method of claim 1, wherein the determining the region of interest in the current video frame comprises:
identifying a blanking line in the current video frame;
and determining the region of interest in the current video frame according to the position of the blanking line in the current video frame.
5. The method of claim 4, wherein determining the region of interest in the current video frame according to the position of the blanking line in the current video frame comprises:
and determining a region in the current video frame, which is symmetrical relative to the blanking line in the vertical direction and is centered in the current video frame in the horizontal direction, as a region of interest in the current video frame.
6. An automotive lamp control device, characterized in that the device comprises:
the video frame acquisition unit is used for acquiring a current video frame of an area in front of the running automobile shot by the vehicle-mounted camera;
a region determining unit, configured to determine a region of interest in the current video frame;
the first quantity counting unit is used for counting the quantity of first pixel points with the brightness values not greater than a preset brightness value in the region of interest as a first quantity;
the scene judging unit is used for judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number and the total number of the pixel points in the region of interest;
the first vehicle lamp control unit is used for controlling the vehicle lamp of the vehicle to be turned on when the judgment result of the scene judgment unit is positive;
a third quantity counting unit, configured to obtain, as a third quantity, the quantity of pixel points whose brightness values in the region of interest of each video frame are not greater than the preset brightness value in a first type of video, where the first type of video is: a video formed by a preset number of video frames adjacent to the current video frame;
a third quantity counting unit, configured to count the total quantity of pixels in the region of interest of each video frame in the first type of video, as a fourth quantity;
a video frame selection unit, configured to select, from video frames of the first type of video, a video frame whose ratio between the third number and the fourth number is greater than a third preset ratio as a first video frame;
the scene determination unit is specifically configured to: and judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
7. The apparatus according to claim 6, wherein the scene determination unit is specifically configured to:
and judging whether the ratio of the first quantity to the total quantity of the pixel points in the region of interest is larger than a first preset ratio or not, and if so, judging that the scene in front of the automobile is a dark scene.
8. The apparatus of claim 7, further comprising:
a second quantity counting unit, configured to count, as a second quantity, the number of pixels located in a preset orientation in the region of interest among the first pixels when a ratio of the first quantity to the total quantity of pixels in the region of interest is greater than a first preset ratio;
a first quantity ratio judgment unit for judging whether the ratio of the second quantity to the first quantity is greater than a second preset ratio;
and the second car light control unit is used for executing the step of controlling the car light of the car to be turned on when the judgment result of the first quantity ratio judgment unit is yes.
9. The apparatus of claim 6, wherein the region determining unit comprises:
a vanishing line identifying subunit, configured to identify a vanishing line in the current video frame;
and the area determining subunit is used for determining an area of interest in the current video frame according to the position of the blanking line in the current video frame.
10. The apparatus according to claim 9, wherein the region determining subunit is specifically configured to:
and taking a region which is symmetrical in the vertical direction relative to the blanking line and is centered in the current video frame in the horizontal direction in the current video frame as a region of interest in the current video frame.
11. A control device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the bus;
the memory is used for storing a computer program;
the processor, executing the program stored in the memory, implementing the method steps of any of claims 1-5.
12. An automobile lamp control system is characterized by comprising image acquisition equipment and control equipment;
the image acquisition equipment is used for acquiring a video frame of an area in front of the running of the automobile and sending the acquired video frame to the control equipment;
the control device is used for receiving the video frame sent by the image acquisition device, determining an interested area in the video frame, counting the number of first pixel points with brightness values not greater than a preset brightness value in the interested area as a first number, judging whether a scene in front of the driving of the automobile is a dark scene or not according to the first number and the total number of the pixel points in the interested area, and controlling the automobile lamp of the automobile to be turned on if the scene is the dark scene;
the control device is further configured to obtain, as a third number, the number of pixels having luminance values that are not greater than the preset luminance value in the region of interest of each video frame in the first type of video, where the first type of video is: a video formed by a preset number of video frames adjacent to the current video frame; counting the total number of pixel points in the interested region of each video frame in the first type of video as a fourth number; selecting video frames of which the ratio of the third quantity to the fourth quantity is greater than a third preset ratio from all the video frames of the first type of video as first video frames;
the judging whether the scene in front of the automobile running is a dark scene or not according to the first number and the total number of the pixel points in the region of interest comprises the following steps: and judging whether the scene in front of the driving of the automobile is a dark scene or not according to the first number, the total number of pixel points in the region of interest in the current video frame, the number of the first video frames and the total number of video frames contained in the first type of video.
13. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-5.
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