CN113682319A - Camera adjusting method and device, electronic equipment and storage medium - Google Patents
Camera adjusting method and device, electronic equipment and storage medium Download PDFInfo
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- CN113682319A CN113682319A CN202110898453.0A CN202110898453A CN113682319A CN 113682319 A CN113682319 A CN 113682319A CN 202110898453 A CN202110898453 A CN 202110898453A CN 113682319 A CN113682319 A CN 113682319A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The application discloses a camera adjusting method and device, electronic equipment and a storage medium, wherein the camera adjusting method comprises the following steps: determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2; acquiring parameters of an abnormal camera and a normal camera; calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera; if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating parameters needing to be adjusted of the normal camera to obtain a calculation result; and adjusting the normal camera according to the calculation result. According to the technical scheme, the vehicle can be controlled to continue to run according to the adjusted visual field coverage range of the normal camera, or the vehicle is controlled to run to a safe area to park, so that the safety problems of violation of traffic rules, traffic accidents and the like caused by direct in-situ parking of the vehicle are avoided.
Description
Technical Field
The present disclosure relates to the field of vehicle automatic driving technologies, and in particular, to a method and an apparatus for adjusting a camera, an electronic device, and a storage medium.
Background
At present, in the technical field of artificial intelligence, a camera is generally used. For example, in an application scenario of automatic driving, a camera is usually used as a sensing unit, so that a central control computer of a vehicle can control the vehicle to move according to a sensing result reported by the sensing unit. However, when a camera fails, the failed camera cannot provide an input signal for the corresponding device, or the validity of the signal input for the corresponding device is reduced, so that the device cannot operate normally.
Therefore, when a camera fails, how to ensure the normal operation of the corresponding equipment becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a camera adjustment method and apparatus, an electronic device, and a storage medium.
According to an aspect of the present application, there is provided a camera adjustment method, including: determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2; acquiring parameters of an abnormal camera and a normal camera; calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera; if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating parameters needing to be adjusted of the normal camera to obtain a calculation result; and adjusting the normal camera according to the calculation result.
According to another aspect of the present application, there is provided a camera adjustment apparatus including: the determining module is used for determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2; the acquisition module is used for acquiring parameters of the abnormal camera and the normal camera; the calculation module is used for calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera; if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating parameters needing to be adjusted of the normal camera to obtain a calculation result; and the adjusting module is used for adjusting the normal camera according to the calculation result.
According to yet another aspect of the present application, there is provided an electronic device including: a processor; and a memory in which computer program instructions are stored, which, when executed by the processor, cause the processor to execute the camera adjustment method described above.
According to yet another aspect of the present application, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to execute the camera adjustment method described above.
The embodiment of the application provides a camera adjusting method and device, electronic equipment and a storage medium, a blind area of an abnormal camera is determined according to parameters of the abnormal camera, parameters needing to be adjusted of a normal camera are calculated according to the parameters of the normal camera and the blind area of the abnormal camera, and the normal camera is adjusted according to the parameters needing to be adjusted, so that a central control computer can control a vehicle to continue to run according to the view coverage range of the adjusted normal camera or control the vehicle to run to a safe area for parking, and safety problems such as traffic regulation violation and traffic accidents caused by direct in-situ parking of the vehicle are avoided.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic system architecture diagram of a camera adjustment system according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flowchart of a camera adjustment method according to an exemplary embodiment of the present disclosure.
Fig. 3 is a schematic flowchart of calculating a blind area caused by an abnormal camera according to another exemplary embodiment of the present application.
Fig. 4 is a schematic flowchart of a camera adjustment method according to another exemplary embodiment of the present application.
Fig. 5 is a schematic flowchart of adjusting a normal camera according to another exemplary embodiment of the present application.
Fig. 6 is a schematic view illustrating a field coverage of a vehicle camera according to an exemplary embodiment of the present application.
Fig. 7 is a schematic view illustrating a field coverage of a vehicle camera when an abnormality occurs in one camera of the vehicle according to an exemplary embodiment of the present application.
Fig. 8 is a schematic view of a field coverage of a vehicle camera after a normal camera is adjusted by using a camera adjustment method according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a camera adjustment device according to an exemplary embodiment of the present application.
Fig. 10 is a schematic structural diagram of a computing module of a camera adjustment device according to another exemplary embodiment of the present application.
Fig. 11 is a schematic structural diagram of a camera adjustment device according to another exemplary embodiment of the present application.
Fig. 12 is a schematic structural diagram of an adjusting module of a camera adjusting device according to another exemplary embodiment of the present application.
Fig. 13 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
In the automatic driving scenario of L4 (high automation) and above, a plurality of cameras are usually arranged around the vehicle as sensing units, so that the central control computer of the vehicle can complete decision making according to the sensing results reported by the sensing units to control the vehicle to move. However, in the driving process, if a certain camera of the vehicle is abnormal, a blind field will appear, and therefore potential safety hazards exist in the subsequent automatic driving process of the vehicle.
Aiming at the problem of potential safety hazard in automatic driving caused by abnormal camera, the existing solution is to adopt a method of parking in place to prevent the vehicle from continuously running. Parking directly in situ, however, may violate traffic regulations (e.g., parking in places where parking is prohibited), block traffic, and even have more dangerous consequences due to improper parking locations (e.g., parking in the center of the road may be followed by a rear-end vehicle).
Exemplary System
Fig. 1 is a schematic system architecture diagram of a camera adjustment system 1 according to an exemplary embodiment of the present application. As shown in fig. 1, the camera adjustment system 1 includes an autonomous vehicle 10, and the autonomous vehicle 10 includes a first camera 11, a second camera 12, and a central control computer 13. The central control computer 13 is in communication connection with the first camera 11 and the second camera 12. The first camera 11 and the second camera 12 may be mounted at different locations of the autonomous vehicle 10 for capturing images about the environment surrounding the autonomous vehicle 10, wherein the first camera 11 and the second camera 12 have different field of view coverage.
The central control computer 13 is configured to sense a surrounding environment according to the images collected by the first camera 11 and the second camera 12, and make a corresponding decision to control a driving process of the autonomous vehicle 10. When there are abnormal cameras in the first camera 11 and the second camera 12, the central control computer 13 may determine the abnormal cameras and the normal cameras in the first camera 11 and the second camera 12 according to the images collected by the first camera 11 and the second camera 12, determine parameters that the normal cameras need to be adjusted according to the parameters of the abnormal cameras and the normal cameras, and then adjust the normal cameras according to the parameters that need to be adjusted.
In one embodiment, the number of cameras communicatively connected to the central control computer 13 may be three or more, wherein the number of abnormal cameras may be one or more.
It should be noted that the above application scenarios are only presented to facilitate understanding of the principles of the present application, and the embodiments of the present application are not limited thereto. Rather, embodiments of the present application may be applied to any scenario where it may be applicable.
Exemplary method
Fig. 2 is a schematic flowchart of a camera adjustment method according to an exemplary embodiment of the present disclosure. The execution main body of the embodiment may be an electronic device, such as the central control computer in fig. 1, as shown in fig. 2, and the method includes the following steps.
Step 110: and determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2.
Specifically, the N cameras may be installed around the vehicle according to a certain preset position, and the periphery may refer to the periphery of the roof, such as the front of the roof, the rear of the roof, the left side of the roof, the right side of the roof, and the like. The camera may be used to capture images about the surroundings of the vehicle, wherein the vehicle may be an autonomous vehicle, such as an autonomous vehicle with a driver, or an autonomous vehicle without a driver. The camera abnormality may be caused by lens occlusion, external damage, device aging, and the like.
In one embodiment, the hardware of the abnormal camera has no problem, and the image can be collected, but the collected image has a problem. At this time, an abnormal image can be determined according to the output images acquired by the N cameras, and then the camera corresponding to the abnormal image is determined as the abnormal camera. The abnormal camera abnormality can be caused by the lens of the camera being partially or completely shielded. In this embodiment, if the lens of the camera is blocked or partially blocked, the inter-frame image variation amount can be determined by using a frame-by-frame comparison method; or pixel value distribution detection method, i.e. pixel Y value statistical distribution significant abnormal algorithm detection. It should be noted that, the image abnormality collected by the camera includes, but is not limited to, lens shielding faults, such as defocus and color abnormality, which may also make the imaging of the camera fail to meet the required imaging requirement. In summary, mature algorithms can detect abnormal images.
In another embodiment, an abnormal camera has a hardware problem, resulting in failure to acquire an image. The abnormal camera can be determined by detecting the running state of the camera. For example, in the case that the central control computer detects that the data of the camera communication bus is interrupted or the camera cannot respond to the central control computer access signal, the central control computer may determine that the camera is an abnormal camera.
Of course, besides the above method, other suitable methods may also be adopted to determine the abnormal camera, which is not limited in the embodiment of the present application.
Step 120: and acquiring parameters of the abnormal camera and the normal camera.
Specifically, acquiring parameters of an abnormal camera and a normal camera includes: and acquiring the current poses and visual angles of the abnormal camera and the normal camera.
The parameters of the camera may include the current pose and the view angle. Pose may refer to the position and angle of the camera. Generally, the pose can refer to the installation position and the installation angle of the camera, and the installation position and the installation angle of the camera can be recorded into a central control computer when the camera is installed. Optionally, although the installation position of the camera generally does not change, the camera may rotate during the use process, so that the central control computer may monitor the angle of the camera in real time so as to acquire the current pose of the camera.
The viewing angles may include horizontal viewing angles and vertical viewing angles, which may be used to characterize the field coverage of the camera. When the camera is installed, the visual angle of the camera can be determined according to the model of the camera.
Step 130: and calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera.
In one embodiment, the coverage areas of the fields of view of different cameras are different, so that the blind area caused by the abnormal camera can be directly determined according to the parameters of the abnormal camera. For example, the spatial range of the blind area is determined according to the current pose and the view angle of the abnormal camera.
In another embodiment, the number of cameras mounted around the vehicle is greater such that the field coverage of adjacent cameras overlap. In this way, a part of the coverage range of the abnormal camera can be covered by the adjacent camera, so that the blind area caused by the abnormal camera can be calculated according to the parameters of the normal camera and the abnormal camera.
Step 140: and if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating the parameters of the normal camera which need to be adjusted, and obtaining a calculation result.
Each camera corresponds to a visual area, and the visual area can be determined according to parameters of the camera, such as the position and the angle of the camera.
In one embodiment, the visible area corresponding to each camera can be recorded into the central control computer in advance, and the central control computer sums the visible areas of each normal camera to obtain the maximum visible area.
In another embodiment, the maximum viewable area of the normal camera may be calculated based on parameters of the normal camera. Specifically, during the use of the vehicle, the angle of the camera may change, which may cause the visible area of the camera to change. Therefore, the central control computer can detect the parameters of the cameras in real time, further determine the visible area of each normal camera according to the parameters of each normal camera, and sum the visible areas of all the normal cameras to obtain the maximum visible area. Therefore, the accurate maximum visible area can be obtained in real time, and a proper security strategy is convenient to follow-up adopt.
Step 150: and adjusting the normal camera according to the calculation result.
When the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, the situation shows that most of the environment around the vehicle can be sensed by the central control computer of the vehicle, and at the moment, the central control computer can adjust the parameters of the normal camera so that the visual field of the normal camera covers the most important position. For example, the abnormal camera is located on the right side of the vehicle, and the vehicle needs to merge into the right lane, so the right side of the vehicle is the most important direction, and the central control computer can adjust the angle of the normal camera so that the view of the right side of the vehicle can be covered by the camera.
When the maximum visible area of the normal camera cannot cover the blind area caused by the abnormal camera, the situation that most of the environment around the vehicle cannot be sensed by the central control computer of the vehicle is indicated, and the danger degree of the vehicle continuously running is higher at the moment, so that the central control computer can directly control the vehicle to stop or execute other preset safety strategies.
The embodiment of the application provides a camera adjusting method, which is characterized in that a blind area of an abnormal camera is determined according to parameters of the abnormal camera, parameters needing to be adjusted of the normal camera are calculated according to the parameters of the normal camera and the blind area of the abnormal camera, and the normal camera is adjusted according to the parameters needing to be adjusted, so that a central control computer can control a vehicle to continue to run according to the view coverage range of the adjusted normal camera or control the vehicle to run to a safe area for parking, and the safety problems of violation of traffic rules, traffic accidents and the like caused by direct in-situ parking of the vehicle are avoided.
Fig. 3 is a schematic flowchart of calculating a blind area caused by an abnormal camera according to another exemplary embodiment of the present application. The embodiment shown in fig. 3 of the present application is extended based on the embodiment shown in fig. 2 of the present application, and the differences between the embodiment shown in fig. 3 and the embodiment shown in fig. 2 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 3, in the camera adjustment method provided in the embodiment of the present application, a blind area caused by an abnormal camera is calculated according to parameters of the abnormal camera and a normal camera (i.e., step 130), including:
step 131: and calculating an invisible area according to the current pose and the view angle of the abnormal camera.
Step 132: and calculating the visible area according to the current pose and the visual angle of the normal camera.
The visual field coverage range of the camera can be determined according to the current pose and the visual angle of the camera, when the camera is a normal camera, the visual field coverage range is a visual area of the normal camera, and when the camera is an abnormal camera, the visual field coverage range is an invisible area of the abnormal camera.
The visual angle of the camera belongs to the fixed parameters of the camera and is used for representing the visual field coverage of the camera, and the visual angle of the camera can be determined according to the model of the camera. The visual area of the camera mounted on the vehicle can be determined by combining the visual angle, the mounting position and the mounting angle of the camera. For example, the coordinate of the installation position of the camera can be used as the center of a circle, and a sector plane can be obtained by drawing a radius outwards along the center of a circle according to the view angle and the installation angle of the camera, and the sector plane can represent the visual area. The central control computer may construct a coordinate system (e.g., a polar coordinate system), and determine the coordinates (center coordinates) of the mounting positions of the cameras in the coordinate system, so as to express the visible region of the normal camera in the form of coordinates or coordinate equations, and similarly, express the invisible region of the abnormal camera in the form of coordinates or coordinate equations.
Step 133: and determining a blind area caused by the abnormal camera according to the visible area and the invisible area.
Specifically, when the number of cameras mounted around the vehicle is large, the visual field coverage of adjacent cameras may overlap. And one part of the coverage range of the abnormal camera can be covered by the adjacent camera, and the part of the coverage range covered by the adjacent camera is visible and does not belong to a blind area. Therefore, the central control computer can take the remaining part of the abnormal camera in the visual field coverage range except the part covered by the adjacent normal camera as a blind area. Therefore, the range of the blind area can be accurately determined, and parameters such as a rotation angle which are required to be adjusted by a normal camera can be more reasonably determined, so that the visual field coverage range of the adjusted normal camera is as large as possible while the visual field loss of the blind area can be compensated.
According to an embodiment of the present application, calculating parameters that need to be adjusted for a normal camera includes: and calculating the rotation angle required to be adjusted of at least one normal camera required to be adjusted so as to enable the visual fields of all the adjusted normal cameras to cover the blind area caused by the abnormal camera.
Specifically, when the blind area caused by the abnormal camera is very important for the next driving strategy, the central control computer may adjust at least one normal camera to rotate, so that the adjusted views of all the normal cameras cover the blind area caused by the abnormal camera.
In an embodiment, the rotation angle that other normal cameras need to adjust when a certain camera is abnormal can be set in advance. For example, when the camera in front of the roof is abnormal, the rotation angles of other normal cameras are preset, and when the camera in front of the roof is abnormal, the central control computer can directly control the normal cameras to rotate according to the preset rotation angle, so that the adjusted visual fields of all the normal cameras cover the blind area caused by the abnormal camera.
In another embodiment, the central control computer may determine a range of a visual area, which needs to be adjusted, of the normal camera adjacent to the abnormal camera in the coordinate system based on a range of the blind area of the abnormal camera in the coordinate system, and calculate the rotation angle of the normal camera according to the range of the visual area, which needs to be adjusted, in the coordinate system. The central control computer controls the normal camera to rotate according to the rotation angle, so that the visual area of the rotated normal camera covers the blind area.
For example, the abnormal camera is located on the right side of the vehicle, and the central control computer may determine a corresponding safety strategy according to the position or pose of the abnormal camera, where the safety strategy may include parking on the right side of the vehicle and eliminating a blind area on the right side of the vehicle. The central control computer can determine the rotation angle of at least one normal camera according to a safety strategy, so that the vision field of all the adjusted normal cameras can cover a blind area on the right side of the vehicle caused by the abnormal camera.
For another example, the abnormal camera is located at the left side of the vehicle, and the vehicle travels in the rightmost lane, at which time the central control computer may determine a corresponding safety strategy according to the position (or pose) of the abnormal camera and the current traveling lane, where the safety strategy may include continuing traveling along the current lane and eliminating a blind zone on the left side of the vehicle. The central control computer can determine the rotation angle of at least one normal camera according to a safety strategy, so that the adjusted visual fields of all the normal cameras can cover a blind area on the left side of the vehicle caused by the abnormal camera.
In this embodiment, because partial view around the vehicle is blocked, there is a risk in the subsequent running process of the vehicle, at this time, the central control computer is used to determine a corresponding safety strategy according to the position or pose of the abnormal camera, and determine the rotation angle of at least one normal camera according to the safety strategy, so that the blind zone can be eliminated in time, the running risk is reduced, and further, the occurrence of an accident is avoided.
According to an embodiment of the present application, the calculation result includes a rotation angle that needs to be adjusted of at least one normal camera that needs to be adjusted, and the adjustment of the normal camera according to the calculation result includes: and adjusting the normal camera according to the rotation angle required to be adjusted of at least one normal camera required to be adjusted.
Specifically, the calculation result includes the rotation angle that needs to be adjusted for at least one normal camera. The rotation of camera can be through steering mechanism drive, and well accuse computer can transmit the rotation angle of normal camera to steering mechanism, and steering mechanism drives the camera rotation according to rotation angle. Optionally, the steering mechanism may include a motor, the central control computer may transmit the number of turns of the motor corresponding to the rotation angle of the normal camera to the steering mechanism, and the steering mechanism controls the motor to rotate according to the number of turns of the motor so as to drive the camera to rotate according to the rotation angle.
Fig. 4 is a schematic flowchart of a camera adjustment method according to another exemplary embodiment of the present application. The embodiment shown in fig. 4 of the present application is extended based on the embodiment shown in fig. 2 of the present application, and the differences between the embodiment shown in fig. 4 and the embodiment shown in fig. 2 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 4, in the camera adjustment method provided in the embodiment of the present application, the method further includes:
step 160: and identifying whether the road environment meets the parking condition or not according to the output images collected by the N cameras.
Specifically, the central control computer may determine whether the current road environment meets the parking condition according to the output image of the normal camera, or determine whether the current road environment meets the parking condition according to the output image of the normal camera and the output image of the abnormal camera (the image quality cannot meet the normal functional requirement).
In one embodiment, identifying whether the road environment satisfies a parking condition includes: identifying whether an emergency lane or a parking space for parking exists on the left side or the right side of the vehicle according to at least one output image acquired by the normal camera; when the emergency lane or the parking space available for parking is identified to exist on the left side or the right side of the vehicle, the road environment is determined to meet the parking condition.
If it is recognized that the road environment can be parked, step 170 is performed, and if it is not possible to park, step 180 is performed.
Step 170: and adjusting the normal camera according to the rotation angle required to be adjusted of at least one normal camera required to be adjusted.
In an embodiment, if an emergency lane or a parking space for parking is identified on the left side of the vehicle, the central control computer may determine that the safety strategy is to park on the left side of the vehicle and eliminate a blind zone on the left side of the vehicle, and at this time, if the blind zone is on the left side of the vehicle, the central control computer determines a rotation angle of at least one normal camera according to the safety strategy, so that the adjusted views of all the normal cameras can cover the blind zone on the left side of the vehicle. If the blind area is on the right side of the vehicle, the central control computer determines that the rotation angle of at least one normal camera is 0 according to the safety strategy, namely the angle of the normal camera is not adjusted, because the blind area does not exist on the left side of the vehicle at the moment.
The condition that there is emergent lane or the parking stall that can supply to park on the right side of vehicle is similar with left side, for avoiding the repetition, and this is no longer repeated here.
Step 180: and continuously acquiring an output image acquired by at least one normal camera in the N cameras in real time.
If the current road environment does not meet the parking condition, the central control computer can determine that the safety strategy is to continue driving, continue to acquire the output image acquired by normal shooting at the next moment, identify whether the road environment meets the parking condition according to the output image at the next moment, execute step 170 if the road environment meets the parking condition, and otherwise execute step 180. That is, the central control computer may repeatedly perform step 160 and step 180 until it is recognized that the current road environment may be stopped.
In this embodiment, the central control computer may identify whether the current road environment meets the parking condition according to the output image acquired by the camera, and specifically may identify whether a parking space, such as an emergency lane or a parking space available for parking, exists in the current road environment, and then the central control computer may determine the corresponding security policy, and adjust the rotation angle of the normal camera according to the security policy and control the vehicle to continue to run or park beside, so as to avoid the risk caused by the in-situ parking of the vehicle.
In other embodiments, the current road environment may be determined from a navigation positioning system of the vehicle, and may include a current road type, for example, the current road type may be an urban road, a highway, a mountain road, a viaduct, or the like. The central control computer can further determine whether the current road environment meets the parking condition according to the current road environment determined by the navigation positioning system. For example, the current road environment is a mountain road, which is generally a one-way road, and parking in the mountain road is dangerous, so the central control computer can determine that the current road environment does not meet the parking condition, and at this time, the central control computer can determine that the safety strategy is to continue driving.
In this embodiment, the central control computer may identify whether the current road environment meets the parking condition according to the current road type determined by the navigation positioning system, and then the central control computer may determine the corresponding safety policy, and adjust the rotation angle of the normal camera according to the safety policy and control the vehicle to continue to run or park beside, thereby avoiding the risk caused by the in-situ parking of the vehicle.
The central control computer can determine different safety strategies according to different road environments so as to reduce the running risk of the vehicle. The specific security policy may be set according to an actual situation, which is not limited in this embodiment of the present application.
Optionally, the central control computer may also determine a corresponding safety policy according to a fault type of the abnormal camera, for example, the fault type of the abnormal camera may include a single-loop camera abnormality, a fisheye camera abnormality, a multi-loop camera abnormality, a front-view camera abnormality, and the like.
Different fault types correspond to different safety strategies, and for example, a multi-camera is abnormal, when a plurality of cameras are abnormal, the sensing capability of the vehicle at the moment is basically out of order, and the vehicle must be immediately stopped and other vehicles must be warned. Therefore, the safety strategy corresponding to the abnormity of the multi-ring-vision camera is to stop immediately and turn on the warning lamp. The specific security policies corresponding to different fault types may be set according to actual conditions, which is not limited in the embodiments of the present application.
Optionally, the central control computer may determine a corresponding safety policy in combination with the fault type of the abnormal camera and the current road environment. For example, the fault type of the abnormal camera is single-loop vision camera abnormality, the current road environment is a single-lane mountain road, and the central control computer determines a corresponding safety strategy to remind a driver of driving carefully and driving out of the mountain road preferentially according to the single-loop vision camera abnormality and the single-lane mountain road. Because the blind area caused by the abnormal single-loop vision camera does not influence the normal running of the vehicle and the single-lane mountain road generally does not have the parking condition, the abnormal single-loop vision camera and the safety strategy corresponding to the single-lane mountain road remind a driver to drive carefully and drive out of the mountain road preferentially. It should be understood that different fault types and specific safety strategies corresponding to the road environment can be set according to actual conditions.
Fig. 5 is a schematic flowchart of adjusting a normal camera according to another exemplary embodiment of the present application. The embodiment shown in fig. 5 of the present application is extended on the basis of the embodiment shown in fig. 4 of the present application, and the differences between the embodiment shown in fig. 5 and the embodiment shown in fig. 4 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 5, in the camera adjustment method provided in the embodiment of the present application, the adjusting a normal camera according to a rotation angle that needs to be adjusted of at least one normal camera that needs to be adjusted (i.e. step 170), includes:
step 171: and adjusting the first adjacent camera according to the rotation angle required to be adjusted by the first adjacent camera.
Specifically, the at least one normal camera that needs to be adjusted includes at least one first adjacent camera adjacent to the abnormal camera.
Because the number of the cameras installed around the vehicle can be multiple, when a certain camera causes a blind area due to abnormality, in order to enable the view of the normal camera to cover the blind area, the central control computer can adjust the angle of the normal camera (the first adjacent camera) adjacent to the abnormal camera, so that the view of the first adjacent camera covers the blind area. For example, the central control computer may determine the rotation angle of the adjacent camera on one side of the abnormal camera, so as to adjust the rotation of the adjacent camera to make the visual field cover the blind area; or the central control computer can respectively determine the rotation angles of two adjacent cameras on two sides of the abnormal camera so as to adjust the rotation of the two adjacent cameras to cover the blind area with the visual fields of the two adjacent cameras.
Fig. 6 is a schematic view illustrating a field coverage of a vehicle camera according to an exemplary embodiment of the present application. A plurality of cameras, which can be generally 8 to 13, are generally mounted around the vehicle. Only some of the cameras are shown in fig. 6, including the cameras directly in front of the roof, directly behind the roof, in front of the roof right, and behind the roof right. The fields of view of these four cameras may cover areas on the front, rear, and right sides of the vehicle.
When a certain camera of the vehicle is abnormal, a blind area can appear around the vehicle. For example, the camera at the right rear of the roof is abnormal, and a blind area appears at the right side of the vehicle, as shown in fig. 7.
At the moment, in order to ensure the safety of the vehicle and not influence the traffic, the central control computer can determine the safety strategy of parking the vehicle close to the right side of the vehicle and eliminate the blind area of the right side of the vehicle according to the position of the abnormal camera. Because the right side of the vehicle needs to be parked without a view blind area at the right side view angle, the safety of parking on the right side of the vehicle can be further ensured. The central control computer can determine the rotation angles of two first adjacent cameras (the roof right front camera and the roof right rear camera) adjacent to the abnormal camera according to a safety strategy, so that the visual fields of the two rotated first adjacent cameras can cover a blind area caused by the roof right rear camera.
Further, the present embodiment may further include step 172.
Step 172: and adjusting the second adjacent camera according to the rotation angle required to be adjusted by the second adjacent camera.
Specifically, the at least one normal camera that needs to be adjusted further includes a second adjacent camera adjacent to the first adjacent camera. If the central control computer controls the first adjacent camera to rotate according to the determined rotation angle so as to cover the blind area caused by the abnormal camera, a new blind area can appear in the original visible area of the first adjacent camera. The central control computer can determine the rotation angle of the second adjacent camera according to a new blind area caused by the rotation of the first adjacent camera, and control the rotation of the second adjacent camera according to the rotation angle. The process of determining the rotation angle of the second adjacent camera here can be referred to the above process of determining the rotation angle of the normal camera adjacent to the abnormal camera.
As shown in fig. 8, after the central control computer controls the top right front camera to rotate to the blind area caused by the abnormal camera, the originally covered range of the top right front camera view becomes a new blind area, and in order to avoid the new blind area appearing on the right side of the vehicle, the central control computer may further determine the rotation angle of a second adjacent camera (the top right front camera) adjacent to the first adjacent camera, so that the rotated views of the first adjacent camera and the second adjacent camera can cover the area on the right side of the vehicle.
After the central control computer controls the right front camera of the vehicle roof, the right rear camera of the vehicle roof and the right front camera of the vehicle roof to rotate according to the determined angle, although the visible area behind the vehicle becomes smaller and the visible area in front of the vehicle becomes smaller, such as the area behind the left of the vehicle and the area in front of the left of the vehicle, the areas on the right of the vehicle are all visible, so that the central control computer can be ensured to control the vehicle to safely park on the right of the vehicle.
In this embodiment, the central control computer may determine the security policy according to the position of the abnormal camera, and determine the rotation angles of the cameras adjacent to the abnormal camera and the cameras next to the abnormal camera according to the security policy, or determine the rotation angles of the cameras around the abnormal camera from near to far according to the security policy, thereby quickly determining the camera whose angle needs to be adjusted, and ensuring reliable execution of the security policy.
Exemplary devices
Fig. 9 is a schematic structural diagram of a camera adjustment device according to an exemplary embodiment of the present application. As shown in fig. 9, the apparatus 900 includes: a determination module 910, a first acquisition module 920, a calculation module 930, and an adjustment module 940.
The determining module 910 is configured to determine an abnormal camera and a normal camera in N cameras, where N is greater than or equal to 2; the first obtaining module 920 is configured to obtain parameters of an abnormal camera and a normal camera; the calculating module 930 is configured to calculate a blind area caused by the abnormal camera according to parameters of the abnormal camera and the normal camera, and calculate a parameter that needs to be adjusted by the normal camera if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, so as to obtain a calculation result; the adjusting module 940 is used for adjusting the normal camera according to the calculation result.
The embodiment of the application provides a camera adjusting device, a blind area of an abnormal camera is determined according to parameters of the abnormal camera, parameters needing to be adjusted of a normal camera are calculated according to the parameters of the normal camera and the blind area of the abnormal camera, and the normal camera is adjusted according to the parameters needing to be adjusted, so that a central control computer can control a vehicle to continue to run according to the view coverage range of the adjusted normal camera, or control the vehicle to run to a safe area for parking, and safety problems such as violation of traffic rules and traffic accidents caused by direct in-situ parking of the vehicle are avoided.
According to an embodiment of the present application, the first obtaining module 920 is configured to obtain current poses and viewing angles of the abnormal camera and the normal camera.
Fig. 10 is a schematic structural diagram of a computing module 930 of a camera adjustment apparatus according to another exemplary embodiment of the present application. The embodiment shown in fig. 10 of the present application is extended based on the embodiment shown in fig. 9 of the present application, and the differences between the embodiment shown in fig. 10 and the embodiment shown in fig. 9 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 10, the calculation module 930 includes: a first calculation unit 931, a second calculation unit 932, and a first determination unit 933.
The first calculation unit 931 is configured to calculate an invisible area according to the current pose and the angle of view of the abnormal camera.
The second calculation unit 932 is configured to calculate the visible region according to the current pose and the angle of view of the normal camera.
The first determining unit 933 is configured to determine a blind area caused by an abnormal camera according to the visible area and the invisible area.
According to an embodiment of the present application, the calculating module 930 is configured to calculate a rotation angle that needs to be adjusted for at least one normal camera that needs to be adjusted, so that the adjusted views of all normal cameras cover a blind area caused by an abnormal camera.
According to an embodiment of the present application, the calculation result includes the rotation angle that needs to be adjusted of the at least one normal camera that needs to be adjusted, and the adjusting module 940 is configured to adjust the normal camera according to the rotation angle that needs to be adjusted of the at least one normal camera that needs to be adjusted.
Fig. 11 is a schematic structural diagram of a camera adjustment device according to another exemplary embodiment of the present application. The embodiment shown in fig. 11 of the present application is extended based on the embodiment shown in fig. 9 of the present application, and the differences between the embodiment shown in fig. 11 and the embodiment shown in fig. 9 are emphasized below, and the descriptions of the same parts are omitted.
As shown in fig. 11, the apparatus 900 further comprises: the identifying module 950 is configured to identify whether the road environment meets the parking condition according to the output images acquired by the N cameras. If it is recognized that the road environment can be stopped, the adjusting module 940 performs a step of adjusting the normal cameras according to the rotation angles of at least one of the normal cameras that need to be adjusted.
According to an embodiment of the present application, as shown in fig. 11, the apparatus 900 further includes: a second acquisition module 960. If it is recognized that the road environment may not stop, the second obtaining module 960 continues to obtain an output image collected by at least one normal camera of the N cameras in real time.
Specifically, the first obtaining module 920 and the second obtaining module 960 may be the same module or different modules.
According to an embodiment of the present application, the recognition module 950 is configured to recognize whether there is an emergency lane or a parking space available for parking on the left side or the right side of the vehicle according to at least one output image collected by the normal camera, wherein when it is recognized that there is an emergency lane or a parking space available for parking on the left side or the right side of the vehicle, it is determined that the road environment meets the parking condition.
Fig. 12 is a schematic structural diagram of an adjusting module 940 of a camera adjusting apparatus according to another exemplary embodiment of the present application. The embodiment shown in fig. 12 of the present application is extended based on the embodiment shown in fig. 11 of the present application, and the differences between the embodiment shown in fig. 12 and the embodiment shown in fig. 11 are emphasized below, and the descriptions of the same parts are omitted.
In this embodiment, the at least one normal camera that needs to be adjusted includes at least one first adjacent camera adjacent to the abnormal camera. As shown in fig. 12, the adjusting module 940 includes: a first adjusting unit 941, configured to adjust the first neighboring camera according to a rotation angle that the first neighboring camera needs to adjust.
According to an embodiment of the present application, the at least one normal camera that needs to be adjusted further includes a second neighboring camera adjacent to the first neighboring camera. As shown in fig. 12, the adjusting module 940 further includes: the second adjusting unit 942 is configured to adjust the second adjacent camera according to a rotation angle that needs to be adjusted by the second adjacent camera.
It should be understood that the operations and functions of the determining module 910, the first obtaining module 920, the calculating module 930, the adjusting module 940, the first calculating unit 931, the second calculating unit 932, the first determining unit 933, the identifying module 950, the second obtaining module 960, the first adjusting unit 941, and the second adjusting unit 942 in the above embodiments may refer to the descriptions in the camera adjusting method provided in fig. 2 to 5, and are not repeated herein to avoid repetition.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 13. The electronic device 90 may perform the camera adjustment method described above.
FIG. 13 illustrates a block diagram of an electronic device 90 in accordance with an embodiment of the present application.
As shown in fig. 13, the electronic device 90 includes one or more processors 91 and memory 92.
The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.
In one example, the electronic device 90 may further include: an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 93 includes, but is not limited to, a keyboard, a mouse, a camera, and the like.
The output device 94 can output various information to the outside, including the determined dead zone caused by the abnormal camera, the parameters that the normal camera needs to be adjusted, and the like. The output devices 94 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 90 relevant to the present application are shown in fig. 13, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 90 may include any other suitable components, depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the camera adjustment method according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the camera adjustment method according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A camera adjustment method comprises the following steps:
determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2;
acquiring parameters of the abnormal camera and the normal camera;
calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera;
if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating the parameters of the normal camera which need to be adjusted to obtain a calculation result;
and adjusting the normal camera according to the calculation result.
2. The camera adjustment method according to claim 1, wherein the obtaining parameters of the abnormal camera and the normal camera includes:
and acquiring the current poses and visual angles of the abnormal camera and the normal camera.
3. The camera adjustment method according to claim 2, wherein the calculating the blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera includes:
calculating an invisible area according to the current pose and the view angle of the abnormal camera;
calculating a visible area according to the current pose and the visual angle of the normal camera;
and determining a blind area caused by the abnormal camera according to the visible area and the invisible area.
4. The camera adjustment method according to claim 1, wherein the calculating the parameters of the normal camera that need to be adjusted includes:
and calculating the rotation angle which needs to be adjusted of at least one normal camera which needs to be adjusted, so that the vision field of all the adjusted normal cameras covers the blind area caused by the abnormal camera.
5. The camera adjustment method according to claim 4, wherein the calculation result includes a rotation angle that needs to be adjusted for the at least one normal camera that needs to be adjusted, and the adjusting the normal camera according to the calculation result includes:
and adjusting the normal camera according to the rotation angle which needs to be adjusted of at least one normal camera which needs to be adjusted.
6. The camera adjustment method according to claim 5, further comprising:
identifying whether the road environment meets parking conditions according to the output images acquired by the N cameras;
and if the road environment is identified to be capable of parking, executing the step of adjusting the normal camera according to the rotation angle which needs to be adjusted of at least one normal camera which needs to be adjusted.
7. The camera adjustment method according to claim 6, further comprising:
and if the road environment is identified not to be stopped, continuously acquiring an output image acquired by at least one normal camera in the N cameras in real time.
8. A camera adjustment apparatus, comprising:
the determining module is used for determining an abnormal camera and a normal camera in the N cameras, wherein N is more than or equal to 2;
the acquisition module is used for acquiring parameters of the abnormal camera and the normal camera;
the calculation module is used for calculating a blind area caused by the abnormal camera according to the parameters of the abnormal camera and the normal camera; if the maximum visible area of the normal camera can cover the blind area caused by the abnormal camera, calculating the parameters of the normal camera which need to be adjusted to obtain a calculation result;
and the adjusting module is used for adjusting the normal camera according to the calculation result.
9. An electronic device, comprising:
a processor; and
a memory having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the camera adjustment method of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the camera adjustment method of any one of claims 1 to 7.
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