CN111756987B

CN111756987B - Control method and device of vehicle-mounted camera and vehicle-mounted image capturing system

Info

Publication number: CN111756987B
Application number: CN201910244126.6A
Authority: CN
Inventors: 刘沛
Original assignee: Shanghai Qwik Smart Technology Co Ltd
Current assignee: Shanghai Qwik Smart Technology Co Ltd
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2023-09-26
Anticipated expiration: 2039-03-28
Also published as: CN111756987A

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 illumination intensities when a plurality of cameras arranged in different directions of a vehicle capture images; determining the illumination difference value between the illumination intensities of the directions in which any two cameras capture images; and responding to the illuminance difference exceeding a preset threshold, outputting a control signal to at least control the camera with the prescribed position with high illumination intensity to adjust the image acquisition parameters so as to capture the 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 of 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 capturing pictures by a vehicle-mounted camera.

Background

With the development of economy, especially the development of automobile industry, the number of automobiles in the society is increased, and with the improvement of the living standard of people, the automobile is used as a riding instead of walking tool, and the requirements of consumers on the configuration of the automobile are higher and higher when the consumers purchase the automobile, but the common automobile configuration in the market at present can not meet the requirements of the consumers on humanization and intellectualization of the automobile. In particular, current vehicle maneuvers tend to be more automated to assist the driver in driving, making the driver's driving easier.

For example, an advanced driving assistance system (Advanced Driver Assistance System), abbreviated as ADAS, is an active safety technology that uses various sensors mounted on a vehicle to collect environmental data inside and outside the vehicle at a first time and perform technologies such as identification, detection and tracking of static and dynamic objects, so that a driver can perceive a possible danger at the fastest time to draw attention and improve safety. The sensors used by ADAS mainly include cameras, radar, laser, ultrasound, etc., and can detect light, heat, pressure, or other variables used to monitor the state of an automobile, typically located on front and rear bumpers, side mirrors, steering column interiors, or windshields of the vehicle.

According to the definition of the Wikipedia on-line encyclopedia, currently advanced driving assistance systems typically include a navigation and real-time traffic system TMC, an electronic police system ISA (Intelligent speed adaptation or intelligent speed advice), a car networking (Vehicular communication systems), an adaptive cruise ACC (Adaptivecruise control), a lane departure warning system LDWS (Lane departure warning system), a lane keeping system (Lane keep assistance), a collision avoidance or pre-collision system (Collision avoidance system or pre-manh system), a night vision system (Night Vision system), an adaptive light control (Adaptive light control), a pedestrian protection system (Pedestrian protection system), an automatic parking system (Automatic parking), traffic sign recognition (Traffic sign recognition), blind spot detection (Blind spot detection), driver fatigue detection (Driver drowsiness detection), a downhill control system (Hill descent control), and an electric car warning (Electric vehicle warning sounds) system.

Although there are various auxiliary driving systems capable of realizing different functions, it is most important and fundamental for the auxiliary driving systems to collect the environmental data inside and outside the vehicle at the first time by the sensor, so to speak, that the environmental data inside and outside the vehicle is a cornerstone realizing the different functions of the auxiliary driving.

In particular, in the current driving assistance system, the vehicle-mounted camera as a sensor plays a role in collecting the environmental data inside and outside the vehicle. The vehicle-mounted camera automatically adjusts the near light quantity when 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, since the brightness of the whole image needs to be balanced, the main body part in the image may be a dark part, the object in the image cannot be identified, and the details cannot be identified, so that the subsequent processing of the auxiliary driving system is affected, the paralysis of the auxiliary driving system is caused, and the potential safety hazard is caused.

Therefore, there is a need for a control method and apparatus for a vehicle-mounted camera and a vehicle-mounted image capturing system, which can control the image capturing of the camera in a backlight environment, so that the vehicle-mounted camera can still accurately capture details of the surrounding environment of the vehicle even in the backlight environment, thereby helping the auxiliary driving 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 problems, the present invention provides a control method for a vehicle-mounted camera, which specifically includes:

acquiring illumination intensities when a plurality of cameras arranged in different directions of a vehicle capture images;

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

In an embodiment of the foregoing 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 includes: and controlling each of the cameras to adjust the current image acquisition parameters to the average acquisition parameters.

In an embodiment of the foregoing 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 a designated position captures an image; and

the step of outputting the control signal further includes: and controlling the camera with the large illumination intensity at the designated position to adjust the current image acquisition parameters to the first acquisition parameters.

In an embodiment of the foregoing 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 above 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: a memory and a 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 foregoing control device, optionally, the plurality of cameras are two cameras;

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

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

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

The invention also provides an image capturing system for vehicle, which specifically comprises:

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

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

determining the illumination difference value between the illumination intensities of the directions in which any two cameras capture images; and responding to the illuminance difference exceeding a preset threshold, outputting a control signal to at least control the camera with the prescribed position and high illumination intensity 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 average acquisition parameters based on the plurality of image acquisition parameters; and

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

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 large illumination intensity at the designated position to adjust the current preset image acquisition parameters to the first acquisition parameters.

In an embodiment of the image capturing system, optionally, the step of obtaining 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 stored thereon a computer program which, when executed, implements the steps of the control method as described above.

According to the control method and device for the vehicle-mounted camera and the image capturing system for the vehicle, provided by the invention, the plurality of cameras around the vehicle body are integrated, and the illumination intensity of the environment where the vehicle is positioned is analyzed according to the ambient illumination intensity when the images are acquired by different cameras, so that more accurate exposure values in the environment where the vehicle is positioned are obtained, the optimal acquisition parameters are acquired, and the purpose of providing more accurate exposure original pictures 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 capturing system for a vehicle according to the present invention.

Reference numerals

200. Control device

201. Processor and method for controlling the same

202. Memory device

300. Image pickup module

Detailed Description

The invention is described in detail below with reference to the drawings and the specific embodiments. It is noted that the aspects described below in connection with the drawings and the specific embodiments are merely exemplary and should not be construed as limiting the scope of the invention in any way.

As described above, the present invention provides a control method of a camera, please refer to fig. 1, and fig. 1 shows a flowchart of the control method of 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 illumination intensities when a plurality of cameras arranged in different directions of a vehicle capture images; step 102: determining the illumination difference value between the illumination intensities of the directions in which any two cameras capture images; step 103: determining whether the illuminance difference exceeds a preset threshold? And in response to the illuminance difference exceeding a preset threshold, performing step 104: and outputting a control signal to at least control the camera with the prescribed position and high illumination intensity to adjust the image acquisition parameters so as to capture the image.

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

In step 101, the acquired illumination intensity may be obtained by sensors provided at a plurality of cameras. It will be appreciated by those skilled in the art that illumination intensity is a physical term referring to the luminous flux of received visible light per unit area, simply referred to as illuminance, and Lux (Lux or Lx), which is the amount of light used to indicate the intensity 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 be reflected by an image acquisition parameter when an image is captured by a camera. The image acquisition parameters include shutter speed, aperture, and sensitivity. The shutter speed is a speed at which the shutter opens and closes. If the shutter speed is very slow, meaning that the shutter is open for a longer period of time, more light will enter the camera. If it is opened and closed very fast, the incoming light is reduced. The aperture is a device for controlling the amount of light transmitted through the lens and into the photosensitive surface of the body, and is usually in the lens. Sensitivity, also known as ISO value, is a measure of the sensitivity of a backsheet to light. The combination of the three is the key to capturing an image.

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

Conversely, if the parameters used when the camera captures an image are known, the illumination intensity of the position where the camera captured the image can be extrapolated. Thus, in one embodiment, step 101 is further performed to determine the illumination intensity at the time the camera captures an image by acquiring image acquisition parameters at the time the plurality of cameras captures the image.

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

The backlight at the time of capturing an image is related to the relative direction of the camera and the light source. In the embodiment in which the plurality of cameras includes the front camera and the rear camera, when the front camera of the vehicle is back-lit, the rear camera of the vehicle is forward-lit, and in this case, the illumination intensity of the front camera is greater than the illumination intensity of the rear camera. If the illuminance difference between the front camera and the rear camera can be confirmed, and if the illuminance difference exceeds the preset threshold in step 103, it can be considered that the front camera and the rear camera are in an environment with a larger light ratio (illumination intensity ratio), that is, the front camera with a larger illumination intensity is in a backlight environment, so that parameters of capturing images by the front camera need to be adjusted to make the acquired surrounding images have clear details.

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

In the embodiment of determining illumination intensity by acquiring the image acquisition parameters when the plurality of cameras capture images, the method for determining the illumination difference value can reversely deduce the illumination difference value between illumination intensities through the acquisition parameters. Still with leading camera and rear-end camera example, if leading camera is in the back light environment, illumination intensity is greater than rear-end camera, in order to make the whole exposure degree of picture unanimous, the collection parameter that leading camera adopted is more prone to the combination that can make the light inlet less than the collection parameter that rear-end camera adopted. Thus, parameters may be collected to extrapolate the illumination difference between illumination intensities.

More specifically, the aperture of the existing vehicle camera is fixed when capturing images. Meanwhile, in capturing an image in a normal case, one of the shutter speed and the sensitivity is further fixed for ease of control, and the amount of light entering is adjusted by adjusting the other. Thus, the illuminance difference between the illumination intensities can be back-deduced by the difference between the other one adjusted. Therefore, the illuminance difference is not limited to the difference in actual illuminance, and may be reflected by, for example, a difference between shutter speeds, a difference between sensitivities, or a difference between the integrated shutter speeds and sensitivities.

Naturally, the values of aperture, shutter speed, and sensitivity cannot be arbitrarily changed due to the physical characteristics of the camera itself, and there are limit values. Assuming that the light is strong enough under the condition of fixed shutter speed, the shutter speed is automatically adjusted when the sensitivity is adjusted to reach the minimum value; assuming that there is sufficiently dark light at a fixed sensitivity, the sensitivity is automatically adjusted up when the shutter speed is reduced to be sufficiently low (blurring occurs if the shutter speed is further slow). Nevertheless, the control method provided by the invention can comprehensively judge the shutter speeds and the sensitivity data of different cameras so as to acquire the illumination difference value between illumination intensities.

In step 103: in determining whether the illuminance difference exceeds the preset threshold, those 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 the corresponding case, it is also possible to determine the difference between shutter speeds, the difference between sensitivities, or the difference between the integrated shutter speeds and sensitivities. Therefore, the preset threshold may be a lux unit, which is a unit of illumination intensity, or a shift difference in shutter speed or sensitivity, and may be set as needed.

As described above, when it is determined that the illuminance difference between the illumination intensities of the orientations in which any two cameras capture images is greater than the preset threshold, it is considered that there is a case in which at least one camera is backlit in an environment where the current vehicle has a large light ratio. Therefore, in a backlit environment, in order to balance the overall exposure value of the picture, the acquisition parameters employed are difficult to acquire details of objects around the vehicle, resulting in the captured image not being available for subsequent image processing. Therefore, the backlight camera needs to be adjusted.

In an embodiment, the plurality of cameras includes a front camera and a rear camera. When the difference value of illumination intensity between the illumination intensities of the directions where the front camera and the rear camera capture images is judged to be more than a preset threshold value, if the illumination intensity of the front camera is more 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 the forward light environment, the image captured by the acquisition parameters adopted by the rear camera can meet the requirement of subsequent image processing, therefore, 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 appreciated 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 overexposure at the portion of the screen facing the light source, by the above method, at least the details of other objects around the vehicle can be ensured to be accurately captured, and subsequent image recognition can be used, so that the potential safety hazard caused by the loss of details is avoided.

In another embodiment, the plurality of cameras includes four cameras front, back, left, and right. When the difference value of illumination intensity between the illumination intensities of the directions where any two cameras capture images exceeds a preset threshold value, if the illumination intensity of the front camera is larger 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. Because the vehicle is in a relatively high light environment, in this case, the acquisition parameters of the remaining cameras can be adjusted together to capture images uniformly and with the better acquisition parameters. Further, a plurality of image acquisition parameters when the front camera, the rear camera, the left camera and the right camera respectively capture images can be acquired, then an average acquisition parameter is calculated based on the plurality of image acquisition parameters, and the average acquisition parameter is considered to be the most suitable for an environment with larger current light, so that the average acquisition parameter can be applied to the front camera, the rear camera, the left camera and the right camera, and the front camera, the rear camera, the left camera and the right camera can 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 cameras may cause overexposure of the backlit cameras in the portion of the frame facing the light source, by the above method, it is at least ensured that details of other objects around the vehicle are accurately captured, and subsequent image recognition may be used, so that potential safety hazards caused by loss of details are avoided.

According to the control method of the vehicle-mounted camera, provided by the invention, a plurality of cameras around the vehicle body are integrated, and the illumination intensity of the environment where the vehicle is positioned is analyzed according to the ambient illumination intensities when the different cameras acquire images, so that more accurate exposure values in the environment where the vehicle is positioned are obtained, the optimal acquisition parameters are acquired, and the purpose of providing more accurately exposed original pictures for image processing is achieved. According to the original picture accurately exposed, the details of objects around the vehicle can be accurately identified, the possibility is provided for the realization of various functions of a follow-up auxiliary driving system, and the problem that potential safety hazards are caused because images cannot be identified due to inaccurate exposure and incapability of obtaining picture details is avoided.

The invention also provides a control device of the vehicle-mounted camera, referring to fig. 2, 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 device 200 can implement the above-described control method when executing the computer program stored in the memory 202, and the detailed description of the control method is referred to above, and is not repeated herein.

The invention also provides an image capturing system for a vehicle, 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 device 200 can implement the above-described control method when executing the computer program stored in the memory 202, and the detailed description of the control method is referred to above, and 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 in rear of the vehicle. In another embodiment, the camera module 300 includes, in addition to the front camera and the rear camera, a left camera and a right camera for capturing images of left and right sides, so that the camera module can be used to capture 360-degree panoramic images.

Thus 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 present invention also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements 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, 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 (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) 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. The control method of the vehicle-mounted camera is characterized by comprising the following steps of:

determining the illumination difference value between the illumination intensities of the directions in which any two cameras capture images; and

responding to the illuminance difference exceeding a preset threshold value, and acquiring a first acquisition parameter when a camera with small illuminance intensity at a prescribed position captures an image;

and outputting a control signal, and at least controlling a camera with large illumination intensity at the prescribed position to adjust the current image acquisition parameters to the first acquisition parameters so as to capture an image.

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

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

3. The control method of claim 1, wherein the plurality of cameras is two cameras.

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

the illumination intensity is determined based on the image acquisition parameters.

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

6. The utility model provides a controlling means of on-vehicle camera which characterized in that includes: a memory and a processor configured to:

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

8. The control device of claim 6, wherein the plurality of cameras is 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 capturing system for use on board a vehicle, comprising:

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

and outputting a control signal, and at least controlling a camera with large illumination intensity at the prescribed position to adjust the current preset image acquisition parameters to the first acquisition parameters so as to capture an image.

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

the step of the processor outputting the control signal further comprises: and controlling each of the cameras to adjust the current preset image acquisition parameters to the average acquisition parameters.

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

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.