CN111541873A - Control method and system for vehicle monitoring and computer readable storage medium - Google Patents
Control method and system for vehicle monitoring and computer readable storage medium Download PDFInfo
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- CN111541873A CN111541873A CN202010380911.7A CN202010380911A CN111541873A CN 111541873 A CN111541873 A CN 111541873A CN 202010380911 A CN202010380911 A CN 202010380911A CN 111541873 A CN111541873 A CN 111541873A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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Abstract
The embodiment of the application provides a vehicle monitoring control method and system and a computer readable storage medium. Install in this vehicle and be used for carrying out the first camera module and the first light filling lamp monitored to the environment in the car to and, be used for carrying out the second camera module and the second light filling lamp monitored to the driver, this method includes: the first camera module carries out exposure in a first time period, a first light supplement lamp starts light supplement in the first time period, and the first time period is a time period within the shooting time of one frame of image; the second camera module exposes in a second time period, the second light supplement lamp starts light supplement in the second time period, and the second time period is the residual time period in the shooting time of one frame of image. This application embodiment exposes and opens the light filling lamp through making first camera module and second camera module in the time quantum of difference, and the light filling process of the two mutual noninterference, and the frame rate is not influenced, and monitoring efficiency is high.
Description
Technical Field
The embodiment of the application relates to the technical field of monitoring, in particular to a control method and system for vehicle monitoring and a computer readable storage medium.
Background
With the popularization of online appointment vehicles in social life, the safety problem also becomes more important. Therefore, a monitoring device is usually installed on the vehicle for monitoring, and besides a common vehicle data recorder (for recording outside of the vehicle), there are also an in-vehicle monitoring System (IMS) and a Driving Monitoring System (DMS) which are becoming popular. The IMS is used for integrally monitoring the conditions in the vehicle, and the DMS is specially used for monitoring the driver, so that the vehicle is prevented from being out of control and accidents caused by fatigue, distraction and other behaviors of the driver are prevented.
Generally, the light in the vehicle is darker than that outside the vehicle, especially at night, so when the IMS module and the DMS module are both in the vehicle, the IMS module and the DMS module generally supplement light. At present, the Complementary Metal Oxide Semiconductor (CMOS) of the IMS mainly uses a rolling shutter, and the CMOS of the DMS mainly uses a global shutter, and since the exposure time of the rolling shutter is longer than that of the global shutter, if the IMS and the DMS perform exposure and fill lighting simultaneously in the same frame, the two fill lighting lamps interfere with each other. When two light filling lamps are two-way opened, the imaging quality of two camera modules can all receive the influence, leads to the imaging quality poor.
To the two problem that interfere with each other of opening of light filling lamp, at present, there is the mode through switching two light filling lamps in turn, also be exactly when the exposure of a module another module not work and do not open the light filling lamp and avoid two light filling lamp mutual interferences yet, vice versa. Thus, if the same actual frame rate as before is reached, meaning that the frame rate is doubled, the other module will not operate but will output frame images that are actually useless. For example, if the original frame rate is 30fps, that is, 30 frame images are output per second, then since half of the frame images are useless, 60 images are output per second, and the frame rate becomes 60 fps. In addition, the logic of Auto Exposure (AE) becomes more complicated. Normal AE processing is performed for each frame, and then the exposure parameters of the next frame are controlled. If an individual frame loss is involved, the AE is also adapted accordingly. Further, if the AE is done by Image Signal Processor (ISP) hardware, the ISP must also be required to have this particular processing mode.
Disclosure of Invention
The embodiment of the application provides a control method and system for vehicle monitoring and a computer readable storage medium, so that an IMS module and a DMS module expose and turn on a fill light at different time periods without mutual interference, and the frame rate is not affected.
In a first aspect, an embodiment of the present application provides a control method for vehicle monitoring, where a first camera module and a first light supplement lamp for monitoring an environment in a vehicle are installed in the vehicle, and a second camera module and a second light supplement lamp for monitoring a driver are installed in the vehicle, where the method includes: the first camera module carries out exposure in a first time period, the first light supplement lamp starts light supplement in the first time period, and the first time period is a time period within the shooting time of one frame of image; the second camera module is exposed in a second time period, the second light supplement lamp is turned on to supplement light in the second time period, and the second time period is the remaining time period in the shooting time of the frame of image.
Optionally, the first camera module is a master device, and the second camera module is a slave device; first camera module exposes in first time quantum, first light filling lamp is in before the light filling is opened in the first time quantum, includes: the first camera module sends a synchronization signal to the second camera module, and the synchronization signal is used for synchronizing the start time of one frame of the first camera module and the second camera module; the first time period is chronologically before the second time period.
Optionally, the first camera module is a master device, and the second camera module is a slave device; the first camera module is exposed in a first time period, and after the first light supplement lamp starts light supplement in the first time period, the method further comprises the following steps: sending a trigger signal to the second camera module; the second camera module exposes in the second time quantum, the second light filling lamp is in open the light filling in the second time quantum includes: and the second camera module exposes in the second time period under the condition of receiving the trigger signal, and the second light supplementing lamp is turned on for supplementing light in the second time period.
Optionally, the first camera module performs exposure in a first time period, the first fill-in light is turned on in the first time period, and the first time period is before a time period within the shooting time of one frame of image, where the method further includes: the first camera module group receives a first setting instruction sent by external equipment, and the first setting instruction is used for indicating the first camera module group to set the self state as a main equipment state; the second camera module receives a second setting instruction sent by external equipment, wherein the second setting instruction is used for indicating the second camera module to set the self state as a slave equipment state; the first camera module and the second camera module are respectively set to be in a master equipment state and a slave equipment state.
Optionally, after the first camera module and the second camera module set their own states as a master device state and a slave device state, the method further includes: under the condition that the first camera module breaks down, the second camera module receives a third setting instruction sent by the external equipment, wherein the third setting instruction is used for indicating the second camera module to set the self state as a main equipment state; and the second camera module performs exposure in the second time period at intervals of the first time period, and the second light supplement lamp is turned on to supplement light in the second time period.
Optionally, when the first camera module fails, after the second camera module receives a third setting instruction sent by the external device, the method further includes: under the condition that the first camera module is free from faults, the first camera module receives a fourth setting instruction sent by the external equipment, and the fourth setting instruction is used for indicating that the first camera module sets the self state as a main equipment state; and the second camera module receives a fifth setting instruction sent by the external equipment, wherein the fifth setting instruction is used for indicating the second camera module to set the self state as the slave equipment state.
Optionally, the first camera module is a slave device, and the second camera module is a master device; the second camera module exposes in the second time quantum, second light filling lamp is in before opening the light filling in the second time quantum, include: the second camera module sends a synchronization signal to the first camera module, wherein the synchronization signal is used for synchronizing the start time of one frame of the first camera module and the second camera module; the first time period is chronologically subsequent to the second time period.
Optionally, the first camera module is a slave device, and the second camera module is a master device; the second camera module is exposed in a second time period, and after the second light supplement lamp starts light supplement in the second time period, the method further comprises the following steps: sending a trigger signal to the first camera module; first camera module exposes in first time quantum, first light filling lamp is in open the light filling in the first time quantum, includes: the first camera module exposes in the first time period when receiving the trigger signal, and the first light supplement lamp starts light supplement in the first time period.
Optionally, the second camera module performs exposure in a second time period, and before the second fill light lamp starts fill light in the second time period, the method further includes: the second camera module receives a sixth setting instruction sent by external equipment, wherein the sixth setting instruction is used for indicating the second camera module to set the self state as the main equipment state; the first camera module receives a seventh setting instruction sent by external equipment, wherein the seventh setting instruction is used for indicating the first camera module to set the self state as a slave equipment state; the first camera module and the second camera module are respectively set to be in slave equipment states and master equipment states.
Optionally, after the first camera module and the second camera module respectively set their own states as a slave device state and a master device state, the method further includes: under the condition that the second camera module breaks down, the first camera module receives an eighth setting instruction sent by the external equipment, wherein the eighth setting instruction is used for indicating that the first camera module sets the self state as a main equipment state; and exposing the first camera module in the first time period at every second time period, and starting the first light supplement lamp to supplement light in the first time period.
Optionally, when the second camera module fails, after the first camera module receives an eighth setting instruction sent by the external device, the method further includes: under the condition that the second camera module is free from faults, the second camera module receives a ninth setting instruction sent by the external equipment, and the ninth setting instruction is used for indicating the second camera module to set the self state as a main equipment state; and the first camera module receives a tenth setting instruction sent by the external equipment, wherein the tenth setting instruction is used for indicating that the first camera module sets the self state as the slave equipment state.
Optionally, before the exposure of the first camera module and the second camera module, the method further includes: the first camera module and the second camera module respectively receive a synchronous signal sent by external equipment, and the synchronous signal is used for indicating the starting time of a frame; the reception time of the synchronization signal is a start time of the first period; the receiving time interval of the synchronous signal is the starting time of the second time period after the first time period.
Optionally, before the exposure of the first camera module and the second camera module, the method further includes: the first camera module and the second camera module respectively receive a synchronous signal sent by external equipment, and the synchronous signal is used for indicating the starting time of a frame; the reception time of the synchronization signal is a start time of the second period; the receiving time interval of the synchronous signal is the starting time of the first time period after the second time period.
Optionally, the second time period is a time after the original exposure time of the second camera module is compressed; the first period is a difference between a capturing time of the one frame image and the second period.
Optionally, the first time period includes a rolling time and an exposure time of a last row of CMOS of the first camera module; the rolling time is determined according to the output number of the CMOS, the total number of the CMOS and the shooting time of the frame of image of the first camera module; and the exposure time of the last row of CMOS of the first camera module is the remaining time of the first time period.
In a second aspect, an embodiment of the present application provides a control system for vehicle monitoring, including: the first camera module and the first light supplement lamp are arranged in the vehicle and used for monitoring the environment in the vehicle, the first camera module is exposed in a first time period, the first light supplement lamp is started to supplement light in the first time period, and the first time period is a time period within the shooting time of one frame of image; the second camera module and the second light supplement lamp are installed in the vehicle and used for monitoring a driver, the second camera module is exposed in a second time period, the second light supplement lamp is turned on in the second time period, and the second time period is the remaining time period in the shooting time of the frame of image.
In a third aspect, an embodiment of the present application provides a vehicle, including the vehicle monitoring control system in the second aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
According to the control method and the system for vehicle monitoring and the computer-readable storage medium, the first camera module is exposed in the first time period, and the first light supplement lamp is turned on to supplement light in the first time period; the second camera module carries out exposure in a second time period, and the second light supplement lamp is started to supplement light in the second time period, wherein the first time period is a time period in the shooting time of one frame of image, and the second time period is a residual time period in the shooting time of one frame of image. Thereby make first camera module and second camera module expose and the light filling in the different time quantum of a frame time, also be when the light filling lamp of one of them camera module is opened, the light filling lamp of another camera module is closed to this guarantees in a frame time, first camera module and second camera module can all export a frame image, on the basis that does not increase the frame rate, make the light filling lamp of first camera module and second camera module not interfere with each other.
Drawings
FIG. 1 is a schematic diagram of a vehicle monitoring control system provided by an embodiment of the present application;
FIG. 2 is an exposure schematic diagram of a rolling shutter structure provided in an embodiment of the present application;
FIG. 3 is an exposure diagram of a global shutter structure provided in an embodiment of the present application;
FIG. 4 is a flowchart of a control method for vehicle monitoring provided by an embodiment of the present application;
fig. 5 is a schematic view of an exposure process of a first camera module and a second camera module within a frame shooting time according to an example of the present application;
FIG. 6 is a control logic diagram of a control method for vehicle monitoring provided in another embodiment of the present application;
fig. 7(a) is a schematic view of an exposure process in which a second camera module operates independently as a master device within one frame of shooting time according to an example of the present application;
fig. 7(b) is a schematic view of an exposure process in which a first camera module performs independent operation as a master device within one frame of shooting time according to an example of the present application;
fig. 8 is a schematic view of an exposure process of a first camera module and a second camera module within a frame shooting time according to another example of the present application;
fig. 9(a) is a schematic view of an exposure process in which a first camera module independently operates as a master device within one frame of shooting time according to another example of the present application;
fig. 9(b) is a schematic view of an exposure process in which a second camera module independently works as a master device within one frame of shooting time according to another example of the present application;
fig. 10 is a structural diagram of a CMOS provided in an embodiment of the present application.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a schematic diagram of a vehicle monitoring control system provided in an embodiment of the present application. As shown in fig. 1, the control system for vehicle monitoring includes: install and be used for carrying out the first camera module 11 and the first light filling lamp 12 that monitor to the car internal environment in vehicle 10 inside to and, be used for carrying out the second camera module 13 and the second light filling lamp 14 that monitor to the driver, wherein, first light filling lamp 12 is used for carrying out the light filling to first camera module 11, and second light filling lamp 14 is used for carrying out the light filling to second camera module 13. Hereinafter, for convenience of description, the first camera module and the second camera module will be simply referred to as IMS and DMS, respectively. Alternatively, the IMS and the DMS may be both disposed at a position in the front of the vehicle where the entire condition in the vehicle can be photographed, and the DMS needs to be disposed at a position close to the driver and where the facial expression of the driver can be photographed.
It should be noted that, in fig. 1, for convenience of description, the first light supplement lamp and the second light supplement lamp are respectively and independently separated from the corresponding camera modules. In practical application, the first fill-in light 12 may be integrated in the first camera module 11; similarly, the second fill-in light 14 can also be integrated into the second camera module 13. In addition, the arrangement positions of the first camera module and the second camera module in the vehicle in fig. 1 are only exemplary illustrations, and the arrangement positions of the first camera module and the second camera module in the vehicle are not limited, and a person skilled in the art can set the positions of the first camera module and the second camera module in the vehicle according to actual needs.
In the control system for vehicle monitoring, the first camera module and the second camera module can adopt a rolling shutter structure and can also adopt a global shutter structure, and the cost of the global shutter structure is higher than that of the rolling shutter structure. In order to reduce the cost, in the control system for vehicle monitoring, the IMS can use a rolling shutter to perform exposure, and the DMS can use a global shutter to perform exposure. Both the rolling shutter and the global shutter are exposed by using CMOS, as shown in fig. 2 and 3, each Line1 to LineN in fig. 2 and 3 is a Line of CMOS, and when light is irradiated on the CMOS, the CMOS reacts to form an image. The exposure process of the rolling shutter structure is as shown in fig. 2, and as can be seen from fig. 2, the rolling shutter is exposed line by line, wherein one frame time is the exposure start time from the first line CMOS to the last line CMOS (t 0). The exposure process of the global shutter is shown in fig. 3, each row in fig. 3 represents a row of CMOS, as can be seen from fig. 3, each row of the global shutter is exposed simultaneously, and the black square at the right end of each row of CMOS in fig. 2 and 3 represents the readout time of the row of CMOS. As can be seen from the figure, the exposure time of the rolling shutter is longer than that of the global shutter, and if the two shutter structures are exposed within the same frame time, the fill-in lamps of the two shutter structures interfere with each other, thereby affecting the respective imaging quality. In fig. 2 and 3, Frame start represents the start of a Frame, and Frame Period represents a Frame Period.
In order to solve the problem of two light filling lamp mutual interference, this application embodiment exposes and the light filling through making two camera modules different time quantum in a frame time to when the light filling lamp of one of them camera module was opened, the light filling lamp of another camera module was closed. Therefore, in one frame time, the first camera module and the second camera module can complete exposure and output one frame of image, the frame rate cannot be doubled, and the imaging quality can be guaranteed.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 4 is a flowchart of a control method for vehicle monitoring according to an embodiment of the present application. The embodiment of the application provides a control method for vehicle monitoring aiming at the above technical problems in the prior art, and the method comprises the following specific steps:
step 401, the first camera module exposes in a first time period, and the first light supplement lamp starts light supplement in the first time period.
Step 402, the second camera module is exposed in a second time period, and the second light supplement lamp is turned on to supplement light in the second time period.
In this embodiment, the shooting time of one frame of image (hereinafter referred to as one frame time) may be determined according to the output frame rates of the first camera module and the second camera module. For example, the output frame rate of the first camera module and the second camera module is 25fps, and the shooting time of one frame of image is 40 ms. In order to control the exposure and the light filling of the first camera module and the second camera module, the output frame rates of the first camera module and the second camera module need to be the same.
In this embodiment, one frame time is divided into two time periods, that is, a first time period and a second time period, where the first time period is a time period within the shooting time of one frame of image, and the second time period is a remaining time period within the shooting time of one frame of image, so that the first camera module and the second camera module are respectively exposed in the first time period and the second time period, and when one camera module is exposed, the light supplement lamp of the other camera module is turned off. Specifically, when the IMS performs exposure in the first time period, the first fill-in light is turned on, the second fill-in light is turned off, the DMS performs exposure in the second time period, the second fill-in light is turned on, and the first fill-in light is turned off in the second time period.
In the embodiment, the first camera module is exposed in the first time period, and the first light supplement lamp is turned on for light supplement in the first time period; the second camera module carries out exposure in a second time period, and the second light supplement lamp is started to supplement light in the second time period, wherein the first time period is a time period in the shooting time of one frame of image, and the second time period is a residual time period in the shooting time of one frame of image. Thereby make first camera module and second camera module expose and the light filling in the different time quantum of a frame time, also be when the light filling lamp of one of them camera module is opened, the light filling lamp of another camera module is closed to this guarantees in a frame time, first camera module and second camera module can all output a frame image, on the basis that does not increase the frame rate, make the light filling lamp of first camera module and second camera module mutual noninterference, and monitoring efficiency is high.
In practical application, since the fill-in lamp needs some time from turning on to reaching the brightest, the exposure time of the IMS is longer than the first time period, which results in compressing the exposure time of the DMS, in order to avoid frequent turning on and off of the first fill-in lamp. And the frequent switching of the fill light has higher quality requirements on the fill light, and even the cost may need to be increased. Therefore, the first light supplement lamp can be continuously started within the shooting time of one frame of image, the second light supplement lamp is started within the second time period, and the light supplement power of the first light supplement lamp is smaller than that of the second light supplement lamp. Therefore, during the light supplement period of the second light supplement lamp, as the light supplement power of the first light supplement lamp is small, even if the first light supplement lamp is turned on, the second light supplement lamp cannot be greatly interfered.
It should be noted that, in the above two steps S401 and S402, step S401 may be executed first, and then step S402 is executed, or step S402 may be executed first, and then step S401 is executed, which step is executed first depends on the chronological relationship between the first time period and the second time period, and the chronological relationship between the first time period and the second time period depends on who is the primary device from the IMS and the DMS, and the determination of the chronological relationship between the first time period and the second time period may be referred to the description of the following embodiments:
in an alternative embodiment, the first camera module is a master device, the second camera module is a slave device, and the first camera module first time period precedes the second time period in time sequence. In order to enable the first camera module and the second camera module to accurately determine the starting exposure time and the ending exposure time of each other so as to control the self exposure time and the ending exposure time, the starting time of one frame can be synchronized by adopting a synchronization signal mode, namely: expose at first camera module in first time quantum, before first light filling lamp opened the light filling in first time quantum, send synchronizing signal to second camera module by first camera module. Afterwards, first camera module begins to expose in first preset time and opens first light filling lamp, finishes when first time quantum, then second camera module begins to expose in second preset time and opens the second light filling lamp, so, stagger the exposure time and the light filling time of first camera module and second camera module, just can avoid the light filling lamp mutual interference of the two. The synchronization signal is used for synchronizing the start time of one frame of the first camera module and the start time of one frame of the second camera module, so that the first camera module and the second camera module can accurately determine the start exposure time and the end time of the other frame of the first camera module and the second camera module.
For example, as shown in fig. 5, assuming that the one-frame time is T, the first period is T1, and the second period is T2, T is T1+ T2. And T1 precedes T2 in time sequence. When the first camera module sends a synchronizing signal to the second camera module, the first camera module simultaneously starts exposure, the first light supplement lamp is turned on to supplement light for the first camera module, and after the first camera module finishes exposure, the first time period is finished. And then, the second camera module starts to expose, and the second light supplement lamp is turned on. If the start time of the first time period is T1, the end time of the first time period is T2, the start time of the second time period is T3, and the end time of the second time period is T4, where T2-T1 is T1, and T4-T3 is T2. Then the moment of t1, first camera module sends synchronizing signal to second camera module, and first camera module begins to expose from the moment of t1, and first light filling lamp is opened, until the moment of t2, the exposure of first camera module is ended, and close first light filling lamp, moment of t3, the exposure of second camera module begins, and the second light filling lamp is opened, until the moment of t4, the exposure of second camera module is ended, and close the second light filling lamp.
In order to ensure that the two camera modules have sufficient exposure time and the fill-in lamps of the two camera modules do not interfere with each other, the ending time of the first time period and the starting time of the second time period need to be controlled, for example, t3 and t2 may be overlapped.
Therefore, the first camera module and the second camera module complete the shooting of one frame of image, and the steps are still repeated in the next frame. And in order to control the exposure and light filling time of the first camera module and the second camera module accurately and avoid the mutual interference of the light filling of the first camera module and the second camera module, the first camera module can send a synchronizing signal to the second camera module before each frame of shooting.
In another optional embodiment, the first camera module is a master device, and the second camera module is a slave device; in order to enable the first camera module and the second camera module to accurately determine the exposure starting time and the exposure ending time of each other so as to control the exposure time and the exposure ending time of each camera module, the starting time of one frame can be synchronized by adopting a trigger signal mode, namely: the first camera module carries out exposure in a first time period, and after the first light supplement lamp starts light supplement in the first time period, the first camera module sends a trigger signal to the second camera module; the second camera module exposes in the second time period after receiving the trigger signal, and the second light supplement lamp is turned on for light supplement in the second time period.
For example, referring to fig. 5, at time t1, the first camera module starts to perform exposure, and the first fill-in light is turned on, until time t2, the first camera module finishes exposure, and sends a trigger signal to the second camera module, and assuming that the second camera module receives the trigger signal at time t3, the second camera module starts to perform exposure from time t3, and the second fill-in light is turned on, until time t4, the second camera module finishes exposure, and the second fill-in light is turned off. Wherein T2-T1 is T1, and T4-T3 is T2.
Optionally, in an implementation manner in which the first camera module notifies the second camera module of the time for starting exposure through the form of the trigger signal, the first camera module may also send a synchronization signal to the second camera module at time t1, that is, the first camera may send the synchronization signal and the trigger signal to the second camera module, where the synchronization signal is used to notify the second camera module of the start time of a frame of image, and the trigger signal is used to notify the second camera module of the exposure start time, so that the second camera module accurately knows the end time of the first camera module and the exposure start time of the second camera module, and thus mutual interference between the start of the fill light and the start of the fill light is avoided.
The equipment states of the first camera module and the second camera module can be set by respectively sending a setting instruction to the first camera module and the second camera module through external equipment outside a control system for vehicle monitoring. For example, in a control system for vehicle monitoring, attention is paid to monitoring an environment in a vehicle, and an instruction for setting an IMS as a master device may be sent to the IMS through an external device, and an instruction for setting a DMS as a slave device may be sent to the DMS, so that the IMS and the DMS set their states respectively according to the received instructions. To first camera module and second camera module, it specifically includes to set up the equipment state:
a1, the first camera module receives a first setting instruction sent by the external device, wherein the first setting instruction is used for indicating the first camera module to set the self state as the main device state;
a2, the second camera module receives a second setting instruction sent by the external device, and the second setting instruction is used for indicating the second camera module to set the self state as the slave device state;
a3, the first camera module and the second camera module set their own states as a master state and a slave state respectively.
It should be noted that, the steps a1 and a2 do not limit the execution order of the steps, and a1 may be executed first, a2 may be executed first, or a1 and a2 may be executed at the same time.
In one example, as shown in fig. 6, the external device may be a CPU, and the CPU respectively sends a first setting instruction and a second setting instruction to the first camera module and the second camera module, and after receiving the first setting instruction, the first camera module sets its own state as a master device state according to the first setting instruction, and similarly, after receiving the second setting instruction, the second camera module sets its own state as a slave device state according to the second setting instruction.
In addition, in the case where the first camera module is a master and the second camera module is a slave, since the slave needs to operate according to the operation of the master, in order to avoid a situation where the master fails and the slave cannot operate, the slave may be set as the master to operate independently after the master fails. Specifically, under the condition that the first camera module fails, the second camera module receives a third setting instruction sent by the external device, wherein the third setting instruction is used for indicating the second camera module to set the self state as the main device state; every time the second camera module is in the first time period, exposure is carried out in the second time period, and the second light supplementing lamp is turned on to supplement light in the second time period.
For example, the external device monitors a synchronization signal or a trigger signal sent by the first camera module in real time, once the synchronization signal or the trigger signal is monitored to be lost, a third setting instruction is sent to the second camera module, after the second camera module receives the third setting instruction sent by the external device, the state of the second camera module is set as the main device, exposure is carried out in a second time period every first time period, and the second light supplement lamp starts light supplement in the second time period. For example, as shown in fig. 7(a), after the second camera module sets its own state as the master device, in each frame time, every T1 time periods from the start time of one frame time, the exposure is started and the second fill light is turned on. Normally, there will be outputs from both the IMS and DMS during each frame time, and after a master failure, there will be only DMS output and no IMS output during a frame time.
In addition, when the first camera module is a master device and the second camera module is a slave device, if the slave device fails to work, the master device is not affected. The difference is that only the output of the master device and not the output of the slave device are present during the shooting time of one frame. For example, as shown in fig. 7(b), after the first camera module sets its own state as the master device, in each frame time, starting exposure from the start time of one frame time and turning on the first fill light. Normally, there will be outputs from both IMS and DMS during each frame time, and after a slave device failure, there will be only IMS outputs and no DMS outputs during a frame time.
And if the master equipment has recovered the trouble, in order to avoid appearing the situation of two master equipments, still need to reset the equipment state of first camera module, second camera module, the step of resetting specifically includes: under the condition that the first camera module is free from faults, the first camera module receives a fourth setting instruction sent by external equipment, and the fourth setting instruction is used for indicating the first camera module to set the self state as the main equipment state; and the second camera module receives a fifth setting instruction sent by the external equipment, and the fifth setting instruction is used for indicating that the second camera module sets the self state as the slave equipment state.
After the first camera module and the second camera module are reset to the master device and the slave device, the implemented process may refer to specific descriptions about the first camera module as the master device and the second camera module as the slave device in the foregoing embodiments, and details are not described here.
In the above description, the first camera module is used as a master device, and the second camera module is used as a slave device, and the following description will describe a specific implementation manner of the first camera module as a slave device and the second camera module as a master device:
in another alternative embodiment, the first camera module is a slave device, the second camera module is a master device, and the first time period is chronologically after the second time period. In order to enable the first camera module and the second camera module to accurately determine the starting exposure time and the ending exposure time of each other so as to control the self exposure time and the ending exposure time, the starting time of one frame can be synchronized by adopting a synchronization signal mode, namely: the second camera module exposes in the second time period, before the second light supplement lamp starts the light supplement in the second time period, the second camera module sends a synchronous signal to the first camera module, and then the second camera module starts to expose in the second time period, the second light supplement lamp is started, when the second time is over, the first camera module starts to expose in the first time period, and the first light supplement lamp is started. So, stagger the exposure time and the light filling time of first camera module and second camera module, just can avoid the light filling lamp mutual interference of the two. The synchronization signal is used for synchronizing the start time of one frame of the first camera module and the start time of one frame of the second camera module, so that the first camera module and the second camera module can accurately determine the start exposure time and the end time of the other frame of the first camera module and the second camera module.
Exemplarily, as shown in fig. 8 (as can be understood in comparison with fig. 5), the difference is that, compared with the embodiment shown in fig. 5, the chronological order of the first time period and the second time period is reversed in one frame time. That is, in a frame time, in fig. 5, the first camera module starts exposure and light supplement, and then the second camera module starts exposure and light supplement. In fig. 8, the second camera module starts exposure and light supplement first, and then the first camera module starts exposure again.
With reference to fig. 8, if the start time of the first time period is T1, the end time of the first time period is T2, the start time of the second time period is T3, and the end time of the second time period is T4, where T2-T1 is T1, and T4-T3 is T2. Then the moment of the start of a frame time is t3, at the moment of t3, the second camera module sends a synchronizing signal to the first camera module, and the second camera module begins to expose from the moment of t3, and the second light filling lamp is opened, until the moment of t4, the exposure of the second camera module is finished, and the second light filling lamp is closed, at the moment of t1, the first camera module begins to expose, and the first light filling lamp is opened, until the moment of t2, the exposure of the first camera module is finished, and the first light filling lamp is closed.
In an optional implementation manner, the first camera module is a slave device, the second camera module is a master device, and in order to enable the first camera module and the second camera module to accurately determine the exposure start time and the exposure end time of each other, so as to control the exposure time and the exposure end time of each other, the exposure start time of one frame may also be synchronized in a manner of a trigger signal, that is: after the first time period is finished, the first camera module sends a triggering signal to the second camera module; under the condition that a trigger signal is received by the first camera module, exposure is carried out in a first time period, and a first light supplement lamp is started to supplement light in the first time period.
Similarly, the device states of the first camera module and the second camera module can be set by respectively sending a setting instruction to the first camera module and the second camera module through external equipment outside a control system for vehicle monitoring. For example, if the driver is more intensively monitored in the vehicle monitoring system, it is possible to transmit an instruction to set the DMS as the master device to the IDMS and an instruction to set the IMS as the slave device to the IMS through the external device, so that the IMS and the DMS set their own states respectively according to the received instructions. To first camera module and second camera module, it specifically includes to set up the equipment state:
b1, the second camera module receives a sixth setting instruction sent by the external device, and the sixth setting instruction is used for indicating the second camera module to set the self state as the main device state.
b2, the first camera module receives a seventh setting instruction sent by an external device, and the seventh setting instruction is used for indicating the first camera module to set the self state as a slave device state.
b3, setting the self state as slave equipment state and master equipment state respectively by the first camera module and the second camera module.
It should be noted that, the above steps b1 and b2 do not limit the execution order of the steps, and b1, b2, and b1 and b2 may be executed first.
In an example, please continue to refer to fig. 6, the external device may be a CPU, the CPU respectively sends a sixth setting instruction and a seventh setting instruction to the second camera module and the first camera module, the first camera module sets its own state as a slave device state according to the seventh setting instruction after receiving the seventh setting instruction, and similarly, the second camera module sets its own state as a master device state according to the sixth setting instruction after receiving the sixth setting instruction.
Similarly, in the case where the first camera module is a slave and the second camera module is a master, since the slave needs to operate according to the operation of the master, in order to avoid a situation where the master fails and the slave cannot operate, the slave may be set as the master to operate independently after the master fails. Specifically, when the second camera module fails, the first camera module receives an eighth setting instruction sent by the external device, where the eighth setting instruction is used to instruct the first camera module to set its own state as a main device state; and exposing the first camera module in the first time period at every second time period, and starting the first light supplement lamp to supplement light in the first time period.
For example, as shown in fig. 9(a), after the first camera module sets its own state as the master device, in each frame time, every T2 time periods from the start time of one frame time, the exposure is started and the first fill light is turned on. Normally, there will be outputs from both the IMS and the DMS during each frame time, and after a primary failure, there will be only outputs from the IMS and no outputs from the DMS during a frame time.
In addition, when the second camera module is a master device and the first camera module is a slave device, if the slave device fails to work, the master device is not affected. The difference is that only the output of the master device and not the output of the slave device are present during the shooting time of one frame. For example, as shown in fig. 9(b), after the second camera module sets its own state as the master device, in each frame time, the second fill light lamp starts to be exposed and turned on from the start time of one frame time. Normally, there will be outputs from both IMS and DMS during each frame time, and after a slave device fails, there will be only DMS output and no IMS output during a frame time.
Similarly, if the master device recovers the failure after the failure, in order to avoid the occurrence of two master devices, the device states of the first camera module and the second camera module need to be reset, and the resetting step specifically includes: under the condition that the second camera module is free from faults, the second camera module receives a ninth setting instruction sent by the external equipment, and the ninth setting instruction is used for indicating the second camera module to set the self state as a main equipment state; and the first camera module receives a tenth setting instruction sent by the external equipment, wherein the tenth setting instruction is used for indicating that the first camera module sets the self state as the slave equipment state.
After the first camera module and the second camera module are reset to the slave device and the master device, the implemented process may refer to specific descriptions about the first camera module as the slave device and the second camera module as the master device in the foregoing embodiments, and details are not described here.
The above is about first camera module and second camera module, and the introduction of the specific implementation of one of them camera module as master, another camera module as slave controls the slave through the master, and in another implementation, can also control exposure and the light filling of first camera module and second camera module through external equipment, specifically as follows:
the first camera module and the second camera module respectively receive a synchronous signal sent by external equipment, and the synchronous signal is used for indicating the starting time of one frame; the reception time of the synchronization signal is a start time of the first period; the receiving time interval of the synchronous signal is the starting time of the second time period after the first time period. Of course, the receiving time of the synchronization signal may also be the starting time of the second time period, and the receiving time of the synchronization signal is the starting time of the first time period after the second time period.
In the above embodiment, the first period is a difference between a shooting time of one frame of image and the second period, and the first period includes a rolling time and an exposure time of the last row of CMOS of the first camera module; the rolling time is determined according to the output number of the CMOS, the total number of the CMOS and the shooting time of one frame of image of the first camera module; and the exposure time of the last row of CMOS of the first camera module is the remaining time of the first time period except the rolling time.
For example, in one frame time, since the time of the DMS is relatively easy to control, for example, the exposure time of the DMS may be shortened by increasing the fill-in light power of the second fill-in light lamp, so as to ensure the imaging quality of the DMS. The exposure time of the DMS can be controlled within a second preset time period, and the remaining time can be left for the IMS to expose, that is, the IMS needs to complete exposure and fill light in the first time period, otherwise, the IMS and the DMS fill light interfere with each other. Similarly, the first time period can be divided into a rolling time and an exposure time of the last line of the IMS, and the rolling time refers to the time required from the rolling shutter of the IMS to roll from the first line of the CMOS until the rolling reaches the last line.
In order to enable the IMS to complete exposure in the first time period, the number of CMOSs of the IMS may be increased, where for convenience of description, the original number of CMOSs of the IMS is referred to as a first number, the number of CMOSs after the IMS is increased is referred to as a second number, then one frame time is allocated to the second number of CMOSs, and the first time period is allocated to the first number of CMOSs, so that the exposure time of each line of CMOSs of the IMS is compressed, so as to compress the exposure time of the first number of CMOSs, and control the exposure time of the IMS in the first time period.
For example, as shown in fig. 10, taking the IMS output as 720P 25fps output as an example, assuming that the frame length (VTS) is 750 lines, where the 750 lines can be referred to as all the regions in fig. 10, the white region 101 is the final output image region (active image window), and the rest of the regions (including the vertical blank region (vertical blanking)102 and the horizontal blank region (vertical blanking)103, please refer to the shaded portion in the figure) are non-image regions. The number of the CMOSs of the IMS is increased, for example, to double 1500 lines, so that the total time of one frame (here, 40ms) can be divided into 3 parts, as follows:
Frame_Time＝IMS_EXP_Time+DMS_EXP_Time+Rolling_Time
wherein, Frame _ Time represents the shooting Time of a Frame, IMS _ EXP _ Time represents the exposure Time of the last row CMOS of IMS, DMS _ EXP _ Time represents the exposure Time of DMS, and Rolling _ Time represents the Rolling Time.
That is, the shooting time of one frame includes the exposure time of the last row of the IMS module plus the exposure time of the DMS module plus the time required for the rolling shutter to roll to 720 rows. Since the IMS outputs 720P data, i.e., 720 lines (white area in fig. 10), the time consumed by the rolling shutter is 720/1500 × 40 — 19.2 ms. The DMS time can be controlled below 5ms, and the maximum exposure time of the last row of the IMS module is 40-19.2-5-15.8 ms. In other words, if the exposure time of the last row of the IMS module exceeds 15.8ms, the last row, or the last rows of the IMS module, will be affected by the light supplement lamp of the DMS module.
That is, by increasing the number of the CMOSs of the IMS, the exposure time of the first number of CMOSs to be output by the IMS is compressed, and by compressing the exposure time of the DMS, the fill lights of the first fill light and the second fill light do not interfere with each other.
In addition, considering the interference possibly caused by the preflash of the fill light, the time of 15.8ms can be further reduced. Of course, the above values of 15.8, etc. are merely exemplary, and in practical applications, those skilled in the art may adapt the values according to actual needs.
Because the time of the IMS module is compressed, the CMOS selected by the IMS module needs to have good low-light sensitivity and a high dynamic range to ensure the imaging effect.
Assuming that the output of the IMS is 720 lines, as shown in fig. 5, the rolling time refers to the time required for the rolling shutter of the IMS to roll from the first line CMOS until the rolling shutter reaches 720 lines, i.e., tn-t1, and the exposure time of the last line of the IMS refers to the exposure time t2-tn of the 720 th line CMOS; as shown in FIG. 7(a), the rolling time is tm-t 1. In addition, the exposure time of the last row of IMS refers to the exposure time t2-tm of the 720 th row of CMOS.
In addition, the embodiment of the application also provides a vehicle, which comprises the vehicle monitoring control system in the embodiment.
In addition, the embodiment of the present application also provides a computer readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the control method for vehicle monitoring described in the above embodiment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (18)
1. The utility model provides a control method of vehicle control, its characterized in that, install in the vehicle and be used for carrying out the first camera module and the first light filling lamp monitored to the environment in the car to and, be used for carrying out the second camera module and the second light filling lamp monitored to the driver, the method includes:
the first camera module carries out exposure in a first time period, the first light supplement lamp starts light supplement in the first time period, and the first time period is a time period within the shooting time of one frame of image;
the second camera module is exposed in a second time period, the second light supplement lamp is turned on to supplement light in the second time period, and the second time period is the remaining time period in the shooting time of the frame of image.
2. The method of claim 1, wherein the first camera module is a master device and the second camera module is a slave device;
first camera module exposes in first time quantum, first light filling lamp is in before the light filling is opened in the first time quantum, includes:
the first camera module sends a synchronization signal to the second camera module, and the synchronization signal is used for synchronizing the start time of one frame of the first camera module and the second camera module;
the first time period is chronologically before the second time period.
3. The method of claim 1, wherein the first camera module is a master device and the second camera module is a slave device;
the first camera module is exposed in a first time period, and after the first light supplement lamp starts light supplement in the first time period, the method further comprises the following steps:
sending a trigger signal to the second camera module;
the second camera module exposes in the second time quantum, the second light filling lamp is in open the light filling in the second time quantum includes:
and the second camera module exposes in the second time period under the condition of receiving the trigger signal, and the second light supplementing lamp is turned on for supplementing light in the second time period.
4. The method according to any one of claims 1 to 3, wherein the first camera module performs exposure in a first time period, the first fill-in light is turned on in the first time period, and the first time period is before a time period within a shooting time of one frame of image, and the method further comprises:
the first camera module group receives a first setting instruction sent by external equipment, and the first setting instruction is used for indicating the first camera module group to set the self state as a main equipment state;
the second camera module receives a second setting instruction sent by external equipment, wherein the second setting instruction is used for indicating the second camera module to set the self state as a slave equipment state;
the first camera module and the second camera module are respectively set to be in a master equipment state and a slave equipment state.
5. The method of claim 4, wherein after the first camera module and the second camera module set their own states as a master device state and a slave device state, respectively, the method further comprises:
under the condition that the first camera module breaks down, the second camera module receives a third setting instruction sent by the external equipment, wherein the third setting instruction is used for indicating the second camera module to set the self state as a main equipment state;
and the second camera module performs exposure in the second time period at intervals of the first time period, and the second light supplement lamp is turned on to supplement light in the second time period.
6. The method according to claim 5, wherein after the second camera module receives a third setting instruction sent by the external device in case of a failure of the first camera module, the method further comprises:
under the condition that the first camera module is free from faults, the first camera module receives a fourth setting instruction sent by the external equipment, and the fourth setting instruction is used for indicating that the first camera module sets the self state as a main equipment state;
and the second camera module receives a fifth setting instruction sent by the external equipment, wherein the fifth setting instruction is used for indicating the second camera module to set the self state as the slave equipment state.
7. The method of claim 1, wherein the first camera module is a slave device and the second camera module is a master device;
the second camera module exposes in the second time quantum, second light filling lamp is in before opening the light filling in the second time quantum, include:
the second camera module sends a synchronization signal to the first camera module, wherein the synchronization signal is used for synchronizing the start time of one frame of the first camera module and the second camera module;
the first time period is chronologically subsequent to the second time period.
8. The method of claim 1, wherein the first camera module is a slave device and the second camera module is a master device;
the second camera module is exposed in a second time period, and after the second light supplement lamp starts light supplement in the second time period, the method further comprises the following steps:
sending a trigger signal to the first camera module;
first camera module exposes in first time quantum, first light filling lamp is in open the light filling in the first time quantum, includes:
the first camera module exposes in the first time period when receiving the trigger signal, and the first light supplement lamp starts light supplement in the first time period.
9. The method according to claim 1, 7 or 8, wherein the second camera module performs exposure in a second time period, and before the second fill light is turned on in the second time period, the method further comprises:
the second camera module receives a sixth setting instruction sent by external equipment, wherein the sixth setting instruction is used for indicating the second camera module to set the self state as the main equipment state;
the first camera module receives a seventh setting instruction sent by external equipment, wherein the seventh setting instruction is used for indicating the first camera module to set the self state as a slave equipment state;
the first camera module and the second camera module are respectively set to be in slave equipment states and master equipment states.
10. The method according to claim 9, wherein after the first camera module and the second camera module set their own states as a slave device state and a master device state, respectively, the method further comprises:
under the condition that the second camera module breaks down, the first camera module receives an eighth setting instruction sent by the external equipment, wherein the eighth setting instruction is used for indicating that the first camera module sets the self state as a main equipment state;
and exposing the first camera module in the first time period at every second time period, and starting the first light supplement lamp to supplement light in the first time period.
11. The method according to claim 10, wherein after the first camera module receives an eighth setting instruction sent by the external device in case of a failure of the second camera module, the method further comprises:
under the condition that the second camera module is free from faults, the second camera module receives a ninth setting instruction sent by the external equipment, and the ninth setting instruction is used for indicating the second camera module to set the self state as a main equipment state;
and the first camera module receives a tenth setting instruction sent by the external equipment, wherein the tenth setting instruction is used for indicating that the first camera module sets the self state as the slave equipment state.
12. The method of claim 1, wherein the first camera module and the second camera module are prior to exposing, the method further comprising:
the first camera module and the second camera module respectively receive a synchronous signal sent by external equipment, and the synchronous signal is used for indicating the starting time of a frame;
the reception time of the synchronization signal is a start time of the first period;
the receiving time interval of the synchronous signal is the starting time of the second time period after the first time period.
13. The method of claim 1, wherein the first camera module and the second camera module are prior to exposing, the method further comprising:
the first camera module and the second camera module respectively receive a synchronous signal sent by external equipment, and the synchronous signal is used for indicating the starting time of a frame;
the reception time of the synchronization signal is a start time of the second period;
the receiving time interval of the synchronous signal is the starting time of the first time period after the second time period.
14. The method according to claim 2, 3, 7, 8, 12 or 13, wherein the second period of time is a compressed time of an original exposure time of the second camera module;
the first period is a difference between a capturing time of the one frame image and the second period.
15. The method of claim 14, wherein the first period of time comprises a rolling time and an exposure time of a last row of CMOS of the first camera module;
the rolling time is determined according to the output number of the CMOS, the total number of the CMOS and the shooting time of the frame of image of the first camera module;
and the exposure time of the last row of CMOS of the first camera module is the remaining time of the first time period.
16. A control system for vehicle monitoring, comprising:
the first camera module and the first light supplement lamp are arranged in the vehicle and used for monitoring the environment in the vehicle, the first camera module is exposed in a first time period, the first light supplement lamp is started to supplement light in the first time period, and the first time period is a time period within the shooting time of one frame of image;
the second camera module and the second light supplement lamp are installed in the vehicle and used for monitoring a driver, the second camera module is exposed in a second time period, the second light supplement lamp is turned on in the second time period, and the second time period is the remaining time period in the shooting time of the frame of image.
17. A vehicle comprising a vehicle monitoring control system as claimed in claim 16.
18. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-15.
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