CN111756987A

CN111756987A - Control method and device for vehicle-mounted camera and vehicle-mounted image capturing system

Info

Publication number: CN111756987A
Application number: CN201910244126.6A
Authority: CN
Inventors: 刘沛
Original assignee: Shanghai Qinggan Intelligent Technology Co Ltd
Current assignee: Shanghai Qinggan Intelligent Technology Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-10-09
Anticipated expiration: 2039-03-28
Also published as: CN111756987B

Abstract

The invention provides a control method and device of a vehicle-mounted camera and a vehicle-mounted image capturing system. The control method specifically comprises the following steps: acquiring the illumination intensity when a plurality of cameras arranged at different directions of the vehicle capture images; determining the illumination difference value between the illumination intensities of the positions where any two cameras capture images; and responding to the illumination difference value exceeding a preset threshold value, outputting a control signal to at least control the camera with high illumination intensity in the position to adjust image acquisition parameters so as to capture an image. The invention also provides a control device and an image capturing system for realizing the control method. According to the scheme provided by the invention, the image containing the details of the dark part can be captured in the backlight environment, so that the driving safety is improved.

Description

Control method and device for vehicle-mounted camera and vehicle-mounted image capturing system

Technical Field

The invention relates to the field of control of cameras, in particular to the field of control of vehicle-mounted cameras for capturing pictures.

Background

With the development of economy, particularly the development of the automobile industry, the number of automobiles in the society is more and more at present, along with the improvement of the living standard of people, the automobiles are very popular as walking tools, the configuration requirements of consumers on the automobiles are higher and higher when the consumers buy the automobiles, but the common automobile configuration in the market at present can not meet the requirements of the consumers on the humanization and the intellectualization of the automobiles. In particular, the current vehicle operation tends to be automated to assist the driver in driving, so that the driver can drive more easily.

For example, an Advanced Driver Assistance System (ADAS), which is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processes such as identification, detection, and tracking of static and dynamic objects, so that a Driver can detect a possible danger at the fastest time to draw attention and improve safety. The ADAS uses sensors, such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located in the front and rear bumpers, side-view mirrors, and the inside of the steering column or on the windshield of the vehicle.

According to the definition of the Wikipedia online encyclopedia, the current advanced driving assistance system generally includes a navigation and real-time Traffic system TMC, an electronic police system ISA (Intelligent Traffic adaptation or interactive Traffic monitoring), a vehicle networking (Vehicular communication systems), an Adaptive cruise (Adaptive cruise control), a Lane deviation warning system ldws (Lane deviation warning system), a Lane keeping system (Lane keep aid), a Collision avoidance or pre-Collision system (Collision avoidance or pre-Collision system), a Night Vision system (Night Vision system), an Adaptive light control (Adaptive control), a Pedestrian protection system (Pedestrian protection system), an automatic parking system (parking system), a Traffic sign recognition (Traffic sign recognition), a downhill Blind detection system (driving detection system), and an Electric Blind detection system (Driver detection system).

Although there are various driving assistance systems capable of implementing different functions, it is the most important and essential for the driving assistance systems to collect environmental data inside and outside the vehicle at the first time by using sensors, and it can be said that the environmental data inside and outside the vehicle is a cornerstone for implementing the different functions of the driving assistance.

In particular, in the current driving assistance system, the vehicle-mounted camera plays a major role in collecting environmental data inside and outside the vehicle as a sensor. The vehicle-mounted camera automatically adjusts the dipped beam amount in the process of capturing the picture according to the whole picture, and the image acquired by the vehicle-mounted camera in a general environment is enough to be used for subsequent processing so as to complete corresponding functions. However, in a backlight environment, because the brightness of the whole screen needs to be balanced, a main body part in the screen may be a dark part, and an object in the screen cannot be recognized, and details cannot be recognized, so that the follow-up processing of the assistant driving system is influenced, and the assistant driving system is paralyzed, thereby causing potential safety hazards.

Therefore, there is a need for a method and an apparatus for controlling a vehicle-mounted camera and a vehicle-mounted image capturing system, which can control image capturing of the camera in a backlight environment, so that even in the backlight environment, the vehicle-mounted camera can still accurately capture details of the environment around the vehicle, thereby helping a driving assistance system to complete subsequent functions and improving driving safety.

Disclosure of Invention

The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.

In order to solve the above problem, the present invention provides a method for controlling a vehicle-mounted camera, which specifically includes:

acquiring the illumination intensity when a plurality of cameras arranged at different directions of the vehicle capture images;

determining the illumination difference value between the illumination intensities of the positions where any two cameras capture images; and responding to the illumination difference value exceeding a preset threshold value, outputting a control signal to at least control the camera with high illumination intensity in the position to adjust image acquisition parameters so as to capture an image.

In an embodiment of the control method, optionally, in response to the illuminance difference exceeding a preset threshold, the control method further includes:

acquiring a plurality of image acquisition parameters when the plurality of cameras capture images;

calculating an average acquisition parameter based on the plurality of image acquisition parameters; and

the step of outputting the control signal further comprises: and controlling each camera in the plurality of cameras to adjust the current image acquisition parameter to the average acquisition parameter.

In an embodiment of the control method, optionally, the plurality of cameras are two cameras;

in response to the illuminance difference exceeding a preset threshold, the control method further includes:

acquiring a first acquisition parameter when a camera with small illumination intensity at the position captures an image; and

the step of outputting the control signal further comprises: and the camera controlling the illumination intensity of the position to be high adjusts the current image acquisition parameter to the first acquisition parameter.

In an embodiment of the control method, optionally, the step of obtaining the illumination intensity further includes:

acquiring image acquisition parameters when the plurality of cameras capture images; and

and determining the illumination intensity based on the image acquisition parameters.

In an embodiment of the control method, optionally, the image capturing parameters include one or more of shutter speed, aperture, and sensitivity.

The invention also provides a control device of the vehicle-mounted camera, which specifically comprises the following components: a memory and a processor, the processor configured to:

In an embodiment of the control device, optionally, in response to the illuminance difference exceeding a preset threshold, the processor is further configured to:

In an embodiment of the control device, optionally, the plurality of cameras are two cameras;

in response to the illumination difference value exceeding a preset threshold, the processor is further configured to:

In an embodiment of the control device, optionally, the step of acquiring the illumination intensity by the processor further includes:

In an embodiment of the control device, optionally, the image capturing parameters include one or more of shutter speed, aperture, and sensitivity.

The invention also provides a vehicle-mounted image capturing system, which specifically comprises:

a plurality of cameras disposed at different orientations of the vehicle, each of the plurality of cameras capturing an image with predetermined image acquisition parameters; and

a control device coupled to the plurality of cameras, wherein the control device includes a memory and a processor configured to:

determining the illumination difference value between the illumination intensities of the positions where any two cameras capture images; and responding to the illumination difference value exceeding a preset threshold value, outputting a control signal to at least control the camera with high illumination intensity in the position to adjust the current preset image acquisition parameters so as to capture an image.

In an embodiment of the image capturing system, optionally, in response to the illuminance difference exceeding a preset threshold, the processor is further configured to:

acquiring an average acquisition parameter based on the plurality of image acquisition parameters; and

the step of outputting the control signal by the processor further comprises: and controlling each camera in the plurality of cameras to adjust the current preset image acquisition parameter to the average acquisition parameter.

In an embodiment of the image capturing system, optionally, the plurality of cameras are two cameras;

the step of outputting the control signal by the processor further comprises: and controlling the camera with high illumination intensity at the position to adjust the current preset image acquisition parameter to be the first acquisition parameter.

In an embodiment of the image capturing system, optionally, the step of acquiring the illumination intensity by the processor further includes:

In an embodiment of the image capturing system, optionally, the image capturing parameters include one or more of shutter speed, aperture, and sensitivity.

The present invention also provides a computer storage medium having a computer program stored thereon, which when executed implements the steps of the control method as described above.

According to the control method and device of the vehicle-mounted camera and the vehicle-mounted image capturing system, the plurality of cameras around the vehicle body are integrated, the illumination intensity of the environment where the vehicle is located is analyzed according to the environment illumination intensity when different cameras acquire images, so that a more accurate exposure value in the environment where the vehicle is located is obtained, an optimal acquisition parameter is acquired, and the purpose of providing a more accurate exposed original image for image processing is achieved.

Drawings

Fig. 1 shows a flowchart of a vehicle-mounted camera control method provided by the invention.

Fig. 2 shows a schematic diagram of the vehicle-mounted camera control device provided by the invention.

FIG. 3 shows a schematic diagram of an image capture system for a vehicle provided by the present invention.

Reference numerals

200 control device

201 processor

202 memory

300 camera module

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.

As described above, the present invention provides a method for controlling a camera, and referring to fig. 1, fig. 1 shows a flowchart of a method for controlling a vehicle-mounted camera provided by the present invention.

As shown in fig. 1, the control method provided by the present invention includes step 101: acquiring the illumination intensity when a plurality of cameras arranged at different directions of the vehicle capture images; step 102: determining the illumination difference value between the illumination intensities of the positions where any two cameras capture images; step 103: determine whether the illuminance difference exceeds a preset threshold? And in response to the illuminance difference exceeding the preset threshold, executing step 104: and outputting a control signal to at least control the camera with high illumination intensity in the position to adjust image acquisition parameters so as to capture an image.

Specifically, the plurality of cameras set by the control method provided by the invention at least comprise a front camera used for shooting the image in front of the vehicle and a rear camera used for shooting the image behind the vehicle. In another embodiment, the plurality of cameras provided by the control method provided by the invention further comprise a left camera and a right camera for shooting left and right side images, so that the left and right side images can be used for shooting a 360-degree panoramic picture.

In step 101, the acquired illumination intensity may be obtained by sensors disposed at a plurality of cameras. It will be appreciated by those skilled in the art that illumination intensity is a physical term that refers to the luminous flux of visible light received per unit area, abbreviated as illumination, in Lux or Lx, and is used to indicate the amount of illumination and the degree to which the surface area of an object is illuminated.

Further, although the illumination intensity is a physical quantity, the illumination intensity may reflect the illumination intensity by an image capturing parameter when the camera captures an image. The image acquisition parameters include shutter speed, aperture, and sensitivity. The shutter speed is the speed at which the shutter opens and closes. If the shutter speed is very slow, meaning the shutter is open for a longer period of time, more light will enter the camera. If it is turned on and off very fast, less light will enter. An aperture is a device used to control the amount of light transmitted through the lens and into the light-sensing surface in the body, usually in the lens. Sensitivity, also known as the ISO value, is a measure of the sensitivity of a film to light. The cooperation of the three is the key for capturing the image.

For example, if the sensitivity is fixed under the same illumination intensity environment, the larger the aperture (the smaller the aperture value), the faster the shutter speed; the smaller the aperture (the larger the aperture value), the slower the shutter speed. If the light intensity is the same, in order to achieve the same overall exposure of the picture, when the aperture is fixed, the light sensitivity is higher (but the noise points in the picture are more when the light sensitivity is higher), and the shutter speed is faster; the lower the sensitivity, the slower the shutter speed. Similarly, if the light intensity is the same, in order to achieve the same overall exposure of the picture, when the shutter speed is fixed, the light sensitivity is smaller, and the aperture is larger; the greater the sensitivity, the smaller the aperture.

Conversely, if the parameters adopted when the camera captures the image are known, the illumination intensity of the position where the camera captures the image can be reversely deduced. Therefore, in an embodiment, the step 101 is further performed to determine the illumination intensity when the camera captures the image by acquiring the image acquisition parameters when the plurality of cameras capture the image.

Further, in step 102, the illumination difference between the illumination intensities of the positions where any two cameras capture the images can be determined by the actual illumination intensities obtained by the sensors disposed at the plurality of cameras. In another embodiment, the illumination intensity of the cameras capturing images can be determined by acquiring image acquisition parameters of the cameras capturing images, and then determining the illumination difference value between the illumination intensities of any two cameras capturing images according to the image acquisition parameters.

The backlight when taking an image is related to the relative direction of the camera and the light source. In the above embodiment where the plurality of cameras include a front camera and a rear camera, when the front camera of the vehicle is in a backlight state, the rear camera of the vehicle is in a frontlit state, in which case the illumination intensity of the front camera is greater than the illumination intensity of the rear camera. If the illumination difference between the front camera and the rear camera can be determined, and it is determined whether the illumination difference exceeds the preset threshold in step 103, it is determined that the front camera and the rear camera are in an environment with a large light ratio (illumination intensity ratio), that is, the front camera with a large illumination intensity is in an environment with backlight, and therefore, it is necessary to adjust the parameters of the captured image of the front camera to make the acquired surrounding image have clear details.

The front camera and the rear camera are only shown, and according to the control method provided by the invention, the illumination difference value between the illumination intensities of the directions where any two cameras capture images is determined, so that whether any one camera in the plurality of cameras is in a backlight environment can be comprehensively judged.

In the above-described embodiment in which the illumination intensities are determined by acquiring the image acquisition parameters when the images are captured by the plurality of cameras, the method of determining the illumination difference value may reversely deduce the illumination difference value between the illumination intensities by the acquisition parameters. For example, if the front camera is in a backlight environment and the illumination intensity is greater than that of the rear camera, the collection parameters used by the front camera are more likely to be a combination that can reduce the amount of light entering than the collection parameters used by the rear camera in order to make the overall exposure of the picture consistent. Thus, parameters can be collected to reverse the illumination difference between illumination intensities.

More specifically, the aperture of the currently existing vehicle-mounted camera is fixed when capturing an image. Meanwhile, when an image is captured in a normal case, for the sake of simplicity of control, one of the shutter speed or the sensitivity is fixed again, and the amount of light entering is adjusted by adjusting the other. Therefore, the illuminance difference between the illumination intensities can be reversely deduced by the difference between the adjusted one another. Therefore, the illuminance difference is not limited to the difference between the actual light intensities, and may be reflected by, for example, a difference between shutter speeds, a difference between sensitivities, or a combination of a shutter speed and a sensitivity difference.

Of course, the numerical values of the aperture, shutter speed, and sensitivity cannot be arbitrarily changed and have limit values depending on the physical characteristics of the camera itself. If the light is strong enough under the condition of fixing the shutter speed, and the light sensitivity is adjusted to reach the minimum value, the shutter speed can be automatically adjusted to be fast; assuming that there is enough dark light at a fixed sensitivity, the shutter speed is reduced to be low enough (blurring occurs if the shutter speed is slow again), the sensitivity is automatically adjusted high. Nevertheless, the control method provided by the invention can comprehensively judge the shutter speed and the sensitivity data of different cameras so as to acquire the illumination difference value between the illumination intensities.

In step 103: in determining whether the illuminance difference exceeds the preset threshold, one skilled in the art will recognize that, as described above, although it is actually desirable to determine whether the illuminance difference exceeds the preset threshold, in a corresponding case, the difference between shutter speeds, the difference between sensitivities, or the difference between shutter speed and sensitivity may be combined. Therefore, the unit of the preset threshold may be lux, which is a unit of the light intensity, and the preset threshold may be a shutter speed or a step difference in sensitivity, and may be set as needed.

As described above, when it is determined that the illumination difference between the illumination intensities of the directions in which any two cameras capture images is greater than the preset threshold, it is determined that the current vehicle is in an environment with a large light ratio and at least one camera is backlighted. Therefore, in a backlit environment, in order to balance the entire exposure value of the screen, the adopted acquisition parameters are difficult to acquire the details of the objects around the vehicle, so that the captured image cannot be used for subsequent image processing. Therefore, a camera for adjusting the backlight is required.

In one embodiment, the plurality of cameras includes a front camera and a rear camera. When the illumination difference value between the illumination intensities of the positions where the front camera and the rear camera capture images is judged to exceed a preset threshold value, for example, the illumination intensity of the front camera is greater than the illumination intensity of the rear camera, and the difference value exceeds the preset threshold value, the front camera is in a backlight environment. At this time, the acquisition parameters of the front camera need to be adjusted. And because the rear camera is in a direct light environment, the image captured by the acquisition parameters adopted by the rear camera can meet the requirement of subsequent image processing, so the acquisition parameters adopted by the rear camera are applied to the front camera, and the front camera captures the image by the adjusted acquisition parameters.

It should be understood by those skilled in the art that although applying the parameters of the rear camera to the front camera may cause the front camera to be over exposed on the portion of the frame facing the light source, by the above method, it can be at least ensured that the details of other objects around the vehicle are accurately captured, which can be used for subsequent image recognition, and thus the potential safety hazard caused by the lack of details is avoided.

In another embodiment, the plurality of cameras includes four cameras, front, back, left, and right. When the illumination difference value between the illumination intensities of the directions where any two cameras capture images is judged to exceed a preset threshold value, for example, the illumination intensity of the front camera is greater than the illumination intensity of the rear camera, and the difference value exceeds the preset threshold value, it is indicated that the front camera is in a backlight environment. At this time, the acquisition parameters of the front camera need to be adjusted. Since the vehicle is located in an environment with a large light ratio, in this case, the acquisition parameters of the remaining cameras can be adjusted together to capture an image uniformly and with better acquisition parameters. Further, a plurality of image acquisition parameters when the four front, rear, left and right cameras capture images respectively may be acquired, then an average acquisition parameter may be calculated based on the plurality of image acquisition parameters, and the average acquisition parameter may be considered as being most suitable for an environment with a large dimming ratio, and therefore, the average acquisition parameter may be applied to the four front, rear, left and right cameras, so that the four front, rear, left and right cameras capture images with the adjusted acquisition parameters.

It should be appreciated by those skilled in the art that although applying the average acquisition parameters to all the cameras may cause the backlight camera to be over exposed on the part of the frame facing the light source, by the above method, it can be at least ensured that the details of other objects around the vehicle are accurately captured, which can be used for subsequent image recognition, and thus the potential safety hazard caused by the lack of details is avoided.

According to the control method of the vehicle-mounted camera, provided by the invention, a plurality of cameras around a vehicle body are integrated, and the illumination intensity of the environment where the vehicle is located is analyzed according to the environment illumination intensity when different cameras acquire images, so that a more accurate exposure value in the environment where the vehicle is located is obtained, an optimal acquisition parameter is obtained, and the purpose of providing a more accurate exposed original image for image processing is achieved. According to the original picture of accurate exposure, the details of objects around the vehicle can be accurately identified, the possibility of realizing various functions of a follow-up driving assistance system can be provided, and the problem of potential safety hazards caused by the fact that images cannot be identified due to the fact that the exposure is inaccurate and picture details cannot be obtained is solved.

The invention further provides a control device of the vehicle-mounted camera, please refer to fig. 2, and fig. 2 shows a schematic diagram of the control device. As shown in fig. 2, the control device 200 includes a processor 201 and a memory 202. The processor 201 of the control apparatus 200 can implement the control method described above when executing the computer program stored in the memory 202, and please refer to the description of the control method, which is not repeated herein.

The invention also provides an image capturing system for vehicle mounting, which at least comprises the control device 200 and the camera module 300, wherein the camera module 300 comprises a plurality of cameras arranged at different orientations of the vehicle. The control device 200 includes a processor 201 and a memory 202. The processor 201 of the control apparatus 200 can implement the control method described above when executing the computer program stored in the memory 202, and please refer to the description of the control method, which is not repeated herein.

The camera module 300 includes at least a front camera to capture an image in front of the vehicle and a rear camera to capture an image behind the vehicle. In another embodiment, the camera module 300 may further include a left camera and a right camera for capturing left and right side images in addition to the front camera and the rear camera, so as to capture a 360-degree panoramic image.

So far, the control method and device of the vehicle-mounted camera and the vehicle-mounted image capturing system provided by the invention have been described. The invention also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the control method as described above.

Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method of a vehicle-mounted camera is characterized by comprising the following steps:

determining the illumination difference value between the illumination intensities of the positions where any two cameras capture images; and

and responding to the fact that the illumination difference value exceeds a preset threshold value, outputting a control signal to at least control the camera with high illumination intensity in the position to adjust image acquisition parameters so as to capture an image.

2. The control method according to claim 1, wherein in response to the illuminance difference value exceeding a preset threshold, the control method further comprises:

the step of outputting the control signal further comprises: controlling each of the plurality of cameras to adjust a current image acquisition parameter to the average acquisition parameter.

3. The control method according to claim 1, wherein the plurality of cameras are two cameras;

in response to the illuminance difference value exceeding a preset threshold, the control method further includes:

the step of outputting the control signal further comprises: and controlling the camera with high illumination intensity at the position to adjust the current image acquisition parameter to be the first acquisition parameter.

4. The control method of claim 1, wherein the step of obtaining the illumination intensity further comprises:

determining the illumination intensity based on the image acquisition parameter.

5. The control method of claim 1, wherein the image acquisition parameters include one or more of shutter speed, aperture, sensitivity.

6. The control device for the vehicle-mounted camera is characterized by comprising: a memory and a processor, the processor configured to:

7. The control device of claim 6, wherein in response to the illumination difference value exceeding a preset threshold, the processor is further configured to:

8. The control device of claim 6, wherein the plurality of cameras are two cameras;

9. The control device of claim 6, wherein the step of the processor obtaining the illumination intensity further comprises:

10. The control device of claim 6, wherein the image acquisition parameters include one or more of shutter speed, aperture, sensitivity.

11. An image capture system for vehicle mounting, comprising:

a control device coupled with the plurality of cameras, wherein the control device comprises a memory and a processor configured to:

and responding to the fact that the illumination difference value exceeds a preset threshold value, outputting a control signal to at least control the camera with high illumination intensity in the position to adjust the current preset image acquisition parameters to capture an image.

12. The image capture system of claim 11, wherein in response to the illumination difference value exceeding a preset threshold, the processor is further configured to:

obtaining an average acquisition parameter based on the plurality of image acquisition parameters; and

the step of the processor outputting the control signal further comprises: controlling each of the plurality of cameras to adjust a current predetermined image acquisition parameter to the average acquisition parameter.

13. The image capture system of claim 11, wherein the plurality of cameras are two cameras;

the step of the processor outputting the control signal further comprises: and controlling the camera with high illumination intensity at the position to adjust the current preset image acquisition parameter to be the first acquisition parameter.

14. The image capture system of claim 11, wherein the step of the processor obtaining the illumination intensity further comprises:

15. The image capture system of claim 11, wherein the image acquisition parameters include one or more of shutter speed, aperture, sensitivity.

16. A computer storage medium on which a computer program is stored, characterized in that the computer program, when executed, implements the steps of the control method according to any one of claims 1-5.