CN114002846A - Shimmer formation of image driver assistance system based on EMCCD - Google Patents
Shimmer formation of image driver assistance system based on EMCCD Download PDFInfo
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
Abstract
The invention discloses an EMCCD-based low-light-level imaging auxiliary driving system, which comprises an objective lens assembly and an EMCCD imaging assembly; the objective lens assembly acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging assembly; in the EMCCD imaging component, a driving module drives an EMCCD low-light imaging module to receive an original image optical signal under the control of a control processing module, converts the original image optical signal into an original image electric signal and transmits the original image electric signal to an image acquisition module; the image acquisition module outputs digital signals of images through AD conversion, the control processing module processes the digital signals of the images, the enhanced frame images are output to the image coding module for image coding format conversion, and the image coding module outputs the enhanced video signals to the display screen for display. The invention can extract effective information of driving environment under low visibility and low illumination, and provides the effective information to the driver in a short time, thereby greatly improving the safety of vehicle driving under the low illumination and the perception of surrounding targets.
Description
Technical Field
The invention relates to the technical field of driving assistance, in particular to an EMCCD-based low-light-level imaging driving assistance system.
Background
For a long time, the auxiliary driving under the extremely weak light environment is mainly divided into three methods, the first method is the active light source auxiliary driving, which is a method for most directly dealing with the driving problem of the dark environment, namely, an LED irradiation headlamp arranged above a vehicle actively projects a light source to the road surface, the method usually needs a high-power LED lamp, the detection distance of the LED lamp is in direct proportion to the equal power of the LED, and the most fatal method is that the vehicle which needs to be driven in a concealed mode is directly exposed; the second method adopts a vacuum device such as an image intensifier as an auxiliary driving instrument of a core device, and has the defect of damaging the device in the daytime or when strong light exists in a visual field, and secondly, the sense of the driver is poor due to monochromatic screen imaging; the third method is to adopt solid devices such as infrared devices, CMOS devices, CCD devices and the like, wherein the infrared devices can see heat source targets in a very dark environment, but for the situation that low heat source targets and road surface details are poor in performance, the CMOS devices have serious picture distortion effect when a vehicle moves due to the characteristics of rolling shutters of the CMOS devices, great identification difficulty is caused to a driver, and the ordinary CCD devices are weak in perception capability for a low-light environment and cannot effectively deal with the dark environment. Therefore, a driving assistance system is required to be found, so that the environment perception capability of a driver can be effectively enhanced in a severe environment, and higher, more accurate and richer road structure environment information can be obtained.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a low-light-level imaging auxiliary driving system based on an EMCCD (Electron multiplying Charge coupled device), which can extract effective information of a driving environment under low visibility and low illumination, provide the effective information for a driver in a short time and greatly improve the safety of vehicle driving and the perception of surrounding targets under the low illumination.
The technical scheme adopted by the invention is as follows: an EMCCD-based low-light-level imaging auxiliary driving system comprises an objective lens assembly and an EMCCD imaging assembly;
the objective lens assembly acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging assembly;
the EMCCD imaging component comprises an EMCCD low-light-level imaging module, a control processing module, a driving module, an image acquisition module, an image coding module and a display screen;
the driving module drives the EMCCD low-light imaging module to receive an original image light signal under the control of the control processing module; the EMCCD low-light imaging module converts the received original image optical signal into an original image electric signal and transmits the original image electric signal to the image acquisition module; the image acquisition module outputs digital signals of images to the control processing module through AD conversion; the control processing module processes the received image digital signal and outputs an enhanced frame image; the image coding module is connected with the output end of the control processing module, carries out image coding format conversion according to the received enhanced frame image, and outputs the enhanced video signal to a display screen for displaying.
Optionally, the objective lens assembly includes a reflecting prism and an objective lens, and the objective lens is arranged between the reflecting prism and the EMCCD micro-light imaging module; the original image light signal enters the objective lens after passing through the reflecting prism and is focused on the EMCCD low-light imaging module after passing through the objective lens.
Optionally, the system further includes an optical display module, where the optical display module includes a half-reflecting half-transmitting mirror and a curvature mirror disposed inside a dark box; an observation window is arranged on the side wall of the camera bellows;
the reflecting surface of the curvature reflector is a concave surface and faces the display screen; the half-reflecting and half-transmitting mirror is obliquely arranged between the display screen and the curvature reflector, and one surface of the half-reflecting and half-transmitting mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the semi-reflecting and semi-transmitting mirror can enable the display screen to output images, and the images are virtual images formed by the semi-reflecting and semi-transmitting mirror and the curvature reflector, and when the images are directly viewed through the observation window by human eyes, the sizes of the virtual images are consistent with the sizes of the images when the display screen is directly viewed by the human eyes.
Optionally, one end of the half-reflecting half-transmitting mirror facing the curvature reflecting mirror is connected with one side of the curvature reflecting mirror, which is away from the observation window, and one end of the half-reflecting half-transmitting mirror facing the display screen is inclined to one side of the observation window and is located above one side of the curvature reflecting mirror, which is close to the observation window.
In the above scheme, the display screen projection light path reaches the curvature reflector through the half-reflecting half-transparent mirror obliquely erected in the middle of the dark box for reflection, the reflected light can reach the half-reflecting half-transparent mirror and then reflect to the observation window of the dark box, and human eyes can clearly see a virtual image formed by the whole set of optical system through the observation window. The curvature reflector can stretch the image formed by the display screen, so that the ratio of the virtual image of the object seen by human eyes to the image of the real object reaches 1: 1, the size of an object is reflected to the maximum extent, so that the judgment of the human brain on the distance is close to the maximum extent.
Optionally, a light shield is disposed around the observation window of the dark box, and is used for shielding stray light of the external environment and reducing the influence on the observation of human eyes.
Optionally, the driving module includes a register configuration unit and a gain voltage control unit;
the control processing module carries out gray scale statistics on image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD low-light-level imaging module according to a gray scale statistical result, transmits a corresponding numerical value to the register configuration unit as a register configuration value, and the register configuration unit configures the register of the gain voltage control unit according to the received register configuration value, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register value.
Optionally, the control processing module adopts an FPGA, the EMCCD imaging component further includes an external clock and an RAM memory, and the FPGA includes a clock signal input terminal for accessing an external clock signal and a RAM memory connection terminal;
the FPGA comprises a gray level statistic unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray scale counting unit receives the image digital signal output by the image acquisition module to carry out gray scale counting, transmits a gray scale counting result to the threshold value comparison unit, and transmits the gray scale counting result and the complete frame image to the frame cache unit;
the threshold comparison unit compares the received gray statistic result with a preset threshold, and the automatic gain control unit searches a mapping relation table of the preset gray and the register value according to the threshold comparison result, determines a register configuration value to be configured, and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module.
In another aspect, the present invention further provides an automatic gain control method for an EMCCD low-light imaging module in the EMCCD-based low-light imaging assistant driving system, which is executed by a control processing module, and includes:
acquiring a digital signal of an image acquired by an EMCCD low-light-level imaging module in real time;
carrying out gray level statistics on the acquired image digital signals;
and determining the electronic gain multiple of the EMCCD low-light-level imaging module according to the gray level statistical result, outputting the corresponding numerical value as a register configuration value, and configuring the register of the external gain voltage control unit according to the received register configuration value after the external register configuration unit receives the corresponding numerical value, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register value.
Further, the determining the electronic gain multiple of the EMCCD low-light imaging module according to the gray statistics result includes:
matching the gray scale statistical result with a set gray scale threshold value or a gray scale threshold value range to obtain a matched gray scale threshold value or a matched gray scale threshold value range;
searching a mapping relation table of a preset gray scale and a register value according to the matched gray scale threshold value or the gray scale threshold value range, determining the register value corresponding to the matched gray scale threshold value or the gray scale threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray scale and the register value records the mapping relation between a plurality of gray scale threshold values and a plurality of register values, or the mapping relation data between a plurality of gray scale threshold value ranges and a plurality of register values.
Advantageous effects
According to the invention, the EMCCD low-light-level imaging module is adopted to acquire external information, the image information is processed in real time through devices with control processing functions such as an FPGA (field programmable gate array), effective information of a driving environment with low visibility and low illumination is extracted, the effective information can be provided for a driver in a video mode in a short time, and the safety of vehicle driving and the perception of surrounding targets in the low illumination environment are greatly improved.
Meanwhile, the head-up display of the driving system is realized through the optical display assembly, so that the virtual image formed by the object in the environment where the vehicle is located after passing through the optical display assembly is consistent with the size imaged by the direct vision of the driver, the size of the object can be truly reflected, the judgment of the distance by the human brain is closest to the real condition, and the environment perception capability of the driver is effectively enhanced.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an EMCCD low-light imaging driver assistance system according to the present invention;
FIG. 2 is a schematic diagram illustrating a schematic architecture of an embodiment of an EMCCD low-light-level imaging assisted driving system according to the present invention;
fig. 3 is a schematic diagram illustrating the working principle of the control processing module FPGA in an embodiment of the EMCCD low-light imaging aided driving system of the present invention;
FIG. 4 is a schematic diagram showing a comparison of optical signal propagation between a direct-view target and the steering assist system of the present invention;
in the figure, 1-object, 12-virtual object image, 2-reflecting prism, 3-objective, 4-EMCCD photosensitive element (EMCCD low-light imaging module), 5-partial imaging component (comprising FPGA, image acquisition module, driving module and image coding module), 6-flat cable, 7-display screen, 8-dark box, 9-light shield, 10-curvature reflector and 11-semi-transparent semi-reflecting mirror.
Detailed Description
The following further description is made in conjunction with the accompanying drawings and the specific embodiments.
Example 1
The embodiment introduces an EMCCD low-light imaging aided driving system, and referring to fig. 1, the system includes an objective lens assembly and an EMCCD imaging assembly;
the objective lens assembly comprises a reflecting prism 2 and an objective lens 3; the system obtains original image optical signals through a device of periscope outside the vehicle body, the original image optical signals enter an objective lens after passing through a reflecting prism, are focused on an EMCCD low-light-level imaging module 4, and photoelectric conversion is achieved through a photoelectric sensor.
As shown in fig. 2, the EMCCD imaging component includes an EMCCD low-light imaging module 4, a control processing module, a driving module, an image acquisition module, an image coding module, a display screen 6 and a power supply module; the control processing module adopts an FPGA, and the power supply module is used for providing power supply required by the operation of each module in the EMCCD imaging assembly.
The driving module drives the EMCCD low-light imaging module to receive an original image light signal under the control of the FPGA module; the EMCCD low-light imaging module converts the received original image optical signal into an original image electric signal and transmits the original image electric signal to the image acquisition module; the acquisition module outputs digital signals of the images to the FPGA module through AD conversion; the FPGA module processes the received image digital signal and outputs an enhanced frame image; the image coding module is connected with the output end of the FPGA module, performs image coding conversion format according to the received enhanced frame image, and outputs the enhanced video signal to a display screen for displaying.
The original image optical signal passes through the EMCCD imaging component, and the photoelectric conversion, the electron multiplication, the image enhancement and other processing are realized.
Referring to fig. 3, in the present embodiment, the driving module includes a register configuration unit and a gain voltage control unit; the control processing module adopts an FPGA, the EMCCD imaging component also comprises an external clock and an RAM memory, and the FPGA comprises a clock signal input end for accessing an external clock signal and an RAM memory connecting end;
the FPGA carries out gray scale statistics on image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD low-light-level imaging module according to a gray scale statistical result, transmits corresponding numerical values serving as register configuration values to the register configuration unit, and the register configuration unit configures the register of the gain voltage control unit according to the received register configuration values, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register values.
Specifically, the FPGA comprises a gray level statistic unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray scale counting unit receives the image digital signal output by the image acquisition module to carry out gray scale counting, transmits a gray scale counting result to the threshold value comparison unit, and transmits the gray scale counting result and the complete frame image to the frame cache unit;
the threshold comparison unit compares the received gray statistic result with a preset threshold, and the automatic gain control unit searches a mapping relation table of the preset gray and the register value according to the threshold comparison result, determines a register configuration value to be configured, and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module. Referring to fig. 3, the frame buffer unit implements enhancement processing of an image by joint call to the RAM and the image processing unit, and outputs an enhanced frame image to the image encoder.
The embodiment can realize the high-efficiency acquisition, processing and display of images in the low-visibility and low-illumination driving environment where the vehicle is located, provides the images for the driver in a video form, and improves the safety of vehicle running and the perception of surrounding targets in the low-illumination environment.
Example 2
With reference to fig. 1 and fig. 2, in order to realize the head-up display of the driving system, in this embodiment, an optical display module is further provided on the basis of embodiment 1, and the optical display module includes a half-reflecting half-transmitting mirror 11 and a curvature reflecting mirror 10 which are arranged inside a dark box 8; an observation window 9 is arranged on the side wall of the dark box 8;
the reflecting surface of the curvature mirror is concave as in fig. 1 and faces the display screen 7; the half-reflecting and half-transmitting mirror is obliquely arranged between the display screen and the curvature reflector, and one surface of the half-reflecting and half-transmitting mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the semi-reflecting and semi-transmitting mirror can enable the display screen to output images, and the images are virtual images formed by the semi-reflecting and semi-transmitting mirror and the curvature reflector, and when the images are directly viewed through the observation window by human eyes, the sizes of the virtual images are consistent with the sizes of the images when the display screen is directly viewed by the human eyes.
In this embodiment, the one end of half reflection and half transmission mirror towards the curvature reflector is connected one side that the curvature reflector is back to the observation window, and the one end of half reflection and half transmission mirror towards the display screen inclines to observation window one side to be located the top that the curvature reflector is close to observation window one side. The specific inclination angle can be set through experiments and combined with experience, so that the head-up display function can adapt to the normal visual angle of a driver.
In the above scheme, the display screen projection light path reaches the curvature reflector through the half-reflecting half-transparent mirror obliquely erected in the middle of the dark box for reflection, the reflected light can reach the half-reflecting half-transparent mirror and then reflect to the observation window of the dark box, and human eyes can clearly see a virtual image formed by the whole set of optical system through the observation window. The curvature reflector can stretch the image formed by the display screen, so that the ratio of the virtual image of the object seen by human eyes to the image of the real object reaches 1: 1, the size of an object is reflected to the maximum extent, so that the judgment of the human brain on the distance is close to the maximum extent.
As shown in fig. 4, when the object is viewed directly normally, the size of the image formed by the object in the field of view is only related to the distance traveled by the object to the optical path of the human eye, and in this embodiment, the light of the object is converted by the photoelectric converter, and when it is reproduced on the display screen, the information of the distance of the object is lost, so that the image formed by the display screen is stretched by adding a reflector with a certain curvature in the display screen and the human eye, so that the ratio of the virtual image 12 of the object seen by the human eye to the image 1 of the real object reaches 1: 1, the size of the object is reflected to the maximum extent, so that the judgment of the human brain on the distance is closest to the real situation, and the real distance information of the object is reserved.
Furthermore, a light shield 9 is disposed around the observation window of the dark box for shielding stray light of the external environment and reducing the influence on the observation of human eyes.
In the application of this embodiment, as in embodiment 1, the EMCCD imaging component is a core part of a whole set of driving system, and transmits a dim light signal in a dark environment to human eyes by means of dim light information acquisition, signal amplification, image processing and digital image reproduction, including: external environment light is focused on a photosensitive surface of an EMCCD device through an objective system, an EMCCD driving module completes level conversion to EMCCD under an FPGA driving signal to provide a necessary charge transfer time sequence to complete charge carrying, an image acquisition module converts a charge level into a digital signal through AD conversion and transmits the digital signal to FPGA for image processing, the FPGA completes frame image storage and reading through an external RAM, a processed frame image is transmitted to an image coding chip, the coding chip converts video bare data into an MIPI format, finally, the image acquired by the EMCCD is reproduced through a universal display screen, and an optical system consisting of rear-end optical display components presents 1 for human eyes to observe: 1 clear virtual image.
Example 3
The embodiment introduces an automatic gain control method of an EMCCD low-light imaging module in an EMCCD-based low-light imaging assistant driving system, which is executed by a control processing module and includes:
acquiring a digital signal of an image acquired by an EMCCD low-light-level imaging module in real time;
carrying out gray level statistics on the acquired image digital signals;
and determining the electronic gain multiple of the EMCCD low-light-level imaging module according to the gray level statistical result, outputting the corresponding numerical value as a register configuration value, and configuring the register of the external gain voltage control unit according to the received register configuration value after the external register configuration unit receives the corresponding numerical value, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register value.
Further, the determining the electronic gain multiple of the EMCCD low-light imaging module according to the gray statistics result includes:
matching the gray scale statistical result with a set gray scale threshold value or a gray scale threshold value range to obtain a matched gray scale threshold value or a matched gray scale threshold value range;
searching a mapping relation table of a preset gray scale and a register value according to the matched gray scale threshold value or the gray scale threshold value range, determining the register value corresponding to the matched gray scale threshold value or the gray scale threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray scale and the register value records the mapping relation between a plurality of gray scale threshold values and a plurality of register values, or the mapping relation data between a plurality of gray scale threshold value ranges and a plurality of register values.
In application, the EMCCD low-light imaging module in this embodiment can make the driving system compatible with day and night by adjusting the gain voltage (electronic gain multiple). The principle is as follows: after the EMCCD low-light-level imaging module wakes up the photoelectric signal conversion, the image acquisition module acquires and transmits the gray-scale image subjected to AD conversion to the FPGA, the gray-scale statistical unit counts the gray-scale value of the current frame image, the statistical result is sent to the threshold comparison unit, meanwhile, the complete frame image and the statistical result are sent to the frame cache unit, and the frame cache module is jointly called through an external RAM and the image processing unit to realize the visual enhancement of the video image. The threshold comparison unit compares the threshold with a set threshold, and inputs the compared result to the automatic gain control unit, the automatic gain control unit outputs the corresponding register configuration value to the register configuration module in a table look-up mode, and the register configuration module performs voltage configuration on the register of the peripheral gain voltage control chip according to a command sent by the automatic gain control unit. The gray value collected by the image collecting module will change (become higher or lower) due to the adjustment of the gain voltage, and the adjusted new frame image is sent to the gray level counting module to continue to complete the process, so that the closed loop feedback of the whole automatic gain control is formed, and the gray level interval of the final image is in the preset gray level interval.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A low-light-level imaging auxiliary driving system based on EMCCD is characterized by comprising an objective lens assembly and an EMCCD imaging assembly;
the objective lens assembly acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging assembly;
the EMCCD imaging component comprises an EMCCD low-light-level imaging module, a control processing module, a driving module, an image acquisition module, an image coding module and a display screen;
the driving module drives the EMCCD low-light imaging module to receive an original image light signal under the control of the control processing module; the EMCCD low-light imaging module converts the received original image optical signal into an original image electric signal and transmits the original image electric signal to the image acquisition module; the image acquisition module outputs digital signals of images to the control processing module through AD conversion; the control processing module processes the received image digital signal and outputs an enhanced frame image; the image coding module is connected with the output end of the control processing module, carries out image coding format conversion according to the received enhanced frame image, and outputs the enhanced video signal to a display screen for displaying.
2. The EMCCD micro-optic imaging aided driving system of claim 1, wherein the objective lens assembly comprises a reflecting prism and an objective lens, and the objective lens is arranged between the reflecting prism and the EMCCD micro-optic imaging module; the original image light signal enters the objective lens after passing through the reflecting prism and is focused on the EMCCD low-light imaging module after passing through the objective lens.
3. The EMCCD low-light-level imaging driver-assistance system as claimed in claim 1, further comprising an optical display module, wherein the optical display module comprises a half-reflecting half-transmitting mirror and a curvature reflector arranged inside a dark box; an observation window is arranged on the side wall of the camera bellows;
the reflecting surface of the curvature reflector is a concave surface and faces the display screen; the half-reflecting and half-transmitting mirror is obliquely arranged between the display screen and the curvature reflector, and one surface of the half-reflecting and half-transmitting mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the semi-reflecting and semi-transmitting mirror can enable the display screen to output images, and the images are virtual images formed by the semi-reflecting and semi-transmitting mirror and the curvature reflector, and when the images are directly viewed through the observation window by human eyes, the sizes of the virtual images are consistent with the sizes of the images when the display screen is directly viewed by the human eyes.
4. The EMCCD low-light-level imaging driver-assistance system as claimed in claim 3, wherein the end of the half-reflecting and half-transmitting mirror facing the curvature reflector is connected to the side of the curvature reflector away from the observation window, and the end of the half-reflecting and half-transmitting mirror facing the display screen is inclined toward the observation window and is located above the side of the curvature reflector close to the observation window.
5. The EMCCD low-light-level imaging driver-assistance system according to claim 3, wherein a light shield is disposed around the observation window of the dark box.
6. The low-light-level imaging driver-assistance system of the EMCCD of claim 1, wherein the driving module includes a register configuration unit and a gain voltage control unit;
the control processing module carries out gray scale statistics on image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD low-light-level imaging module according to a gray scale statistical result, transmits a corresponding numerical value to the register configuration unit as a register configuration value, and the register configuration unit configures the register of the gain voltage control unit according to the received register configuration value, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register value.
7. The low-light-level imaging aided driving system of the EMCCD as claimed in claim 6, wherein the control processing module adopts an FPGA, the EMCCD imaging assembly further comprises an external clock and a RAM memory, and the FPGA comprises a clock signal input end for accessing an external clock signal and a RAM memory connecting end;
the FPGA comprises a gray level statistic unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray scale counting unit receives the image digital signal output by the image acquisition module to carry out gray scale counting, transmits a gray scale counting result to the threshold value comparison unit, and transmits the gray scale counting result and the complete frame image to the frame cache unit;
the threshold comparison unit compares the received gray statistic result with a preset threshold, and the automatic gain control unit searches a mapping relation table of the preset gray and the register value according to the threshold comparison result, determines a register configuration value to be configured, and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module.
8. The EMCCD-based automatic gain control method of the EMCCD low-light imaging module in the EMCCD-based low-light imaging aided driving system of any one of claims 1-7, which is executed by a control processing module, and is characterized by comprising the following steps:
acquiring a digital signal of an image acquired by an EMCCD low-light-level imaging module in real time;
carrying out gray level statistics on the acquired image digital signals;
and determining the electronic gain multiple of the EMCCD low-light-level imaging module according to the gray level statistical result, outputting the corresponding numerical value as a register configuration value, and configuring the register of the external gain voltage control unit according to the received register configuration value after the external register configuration unit receives the corresponding numerical value, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD low-light-level imaging module according to the configured register value.
9. The automatic gain control method of claim 8, wherein said determining an electronic gain multiple of the EMCCD low-light imaging module based on the gray scale statistics comprises:
matching the gray scale statistical result with a set gray scale threshold value or a gray scale threshold value range to obtain a matched gray scale threshold value or a matched gray scale threshold value range;
searching a mapping relation table of a preset gray scale and a register value according to the matched gray scale threshold value or the gray scale threshold value range, determining the register value corresponding to the matched gray scale threshold value or the gray scale threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray scale and the register value records the mapping relation between a plurality of gray scale threshold values and a plurality of register values, or the mapping relation data between a plurality of gray scale threshold value ranges and a plurality of register values.
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