CN114537403A - Video image acquisition method and automobile - Google Patents

Abstract

The embodiment of the application discloses a video image acquisition method and an automobile, and belongs to the field of automobiles. In the embodiment of the application, the control device firstly judges whether the starting condition of the camera application is met or not according to the distance and the relative speed between the target object and the automobile acquired at the first moment, and starts the camera application under the condition that the starting condition of the camera application is met. After the camera application is started, whether the automobile and the target object have collision risks or not is judged based on the distance and the relative speed between the automobile and the target object acquired at the second moment, and if the image acquisition is required, the camera can be immediately controlled to acquire the image through the camera application started at the first moment, so that the timeliness of the image acquisition is ensured.

Description

Video image acquisition method and automobile

Technical Field

The application relates to the field of automobiles, in particular to a video image acquisition method and an automobile.

Background

With the continuous improvement of living standard of people, automobiles become main transportation means for people to go out, but with the continuous increase of vehicles on roads, traffic accidents are also gradually increased. When a traffic accident occurs, a video image of the accident process is generally acquired from a monitoring device or a vehicle event data recorder of a road section where the traffic accident occurs at present, and the responsibility of the traffic accident is determined according to the acquired video image. However, the monitoring device may not cover all road sections, and the driving recorder may only acquire the video image in front of the vehicle, so that the video image of the complete accident process may not be acquired, thereby affecting the responsibility confirmation of the traffic accident. Based on this, it is highly desirable to provide a method for collecting video images of vehicles or pedestrians that may collide with the vehicle during driving, so that when a traffic accident occurs, responsibility confirmation of the traffic accident can be rapidly performed.

Disclosure of Invention

The embodiment of the application provides a video image acquisition method and an automobile, which can acquire video images of vehicles or pedestrians which may collide with the automobile in the driving process in time. The technical scheme is as follows:

in one aspect, a video image capturing method is provided, and is applied to a control device on an automobile, where a camera application runs on the control device, and the method includes:

acquiring a first distance and a first relative speed between an automobile and a target object, which are acquired at a first moment;

if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space;

acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and if the second distance and the second relative speed meet an image acquisition condition, controlling a camera of the automobile to acquire an image through the camera application, wherein the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have a collision risk.

Optionally, the starting condition of the camera application includes that the first distance is smaller than a first distance threshold, a first relative speed is not greater than a first speed threshold, and a ratio between the first distance and the first relative speed is smaller than a first duration threshold, where the first duration threshold is n times of a starting duration of the camera application, and n is not smaller than 2.

Optionally, the allocating a first memory space for the camera application includes:

and if the size of the currently unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space is the allocated memory space for each currently running application, the sum of the second memory space and the currently unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

Optionally, the acquiring, before the first distance and the first relative speed between the automobile and the target object acquired at the first time, further includes:

acquiring a third relative speed between the automobile and the target object acquired at a third moment;

drive initialization is performed on the camera application if the third relative speed is greater than a second speed threshold, the second speed threshold being less than the first speed threshold.

Optionally, the image acquisition condition includes that the second distance is smaller than a second distance threshold, the second relative speed is not larger than a third speed threshold, and a ratio of the second distance to the second relative speed is smaller than a second duration threshold, the second distance threshold is not larger than the first distance threshold, the third speed threshold is not larger than the first speed threshold, and the second duration threshold is smaller than the first duration threshold.

Optionally, the left side, the right side, the front end, and the rear end of the automobile are each configured with at least one radar, each radar is configured to detect a distance and a relative speed between the automobile and a target object in a direction corresponding to the corresponding radar, each radar corresponds to one camera, and if the second distance and the second relative speed satisfy an image acquisition condition, the camera of the automobile is controlled by the camera application to perform image acquisition, including:

and if the second distance and the second relative speed acquired by the first radar meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application, wherein the image acquisition duration is a first duration.

Optionally, after the camera application controls the camera corresponding to the first radar to perform image acquisition, the method further includes:

acquiring a third distance and a fourth relative speed between the automobile and the target object, which are acquired by the first radar at a fourth moment;

if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling a camera corresponding to the first radar to stop image acquisition through the camera application;

and if the third distance and the fourth relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to continue image acquisition through the camera application, wherein the image acquisition duration is the first duration.

Optionally, the method further comprises:

acquiring a fourth distance and a fifth relative speed between the automobile and a target object, which are acquired by each radar at a fifth moment;

and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application and releasing the first memory space allocated to the camera application.

In another aspect, a control device is provided, on which a camera application runs, the control device being a control device on a vehicle, the control device comprising a processor configured to:

acquiring a first distance and a first relative speed between an automobile and a target object, which are acquired at a first moment;

if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space;

acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and if the second distance and the second relative speed meet an image acquisition condition, controlling a camera of the automobile to acquire an image through the camera application, wherein the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have a collision risk.

Optionally, the starting condition of the camera application includes that the first distance is smaller than a first distance threshold, a first relative speed is not greater than a first speed threshold, and a ratio between the first distance and the first relative speed is smaller than a first duration threshold, where the first duration threshold is n times of a starting duration of the camera application, and n is not smaller than 2.

Optionally, the processor is configured to:

and if the size of the currently unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space is the allocated memory space for each currently running application, the sum of the second memory space and the currently unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

Optionally, the processor is configured to:

before the acquiring the first distance and the first relative speed between the automobile and the target object, which are acquired at the first moment, the method further comprises the following steps:

acquiring a third relative speed between the automobile and the target object acquired at a third moment;

drive initialization is performed on the camera application if the third relative speed is greater than a second speed threshold, the second speed threshold being less than the first speed threshold.

Optionally, the image acquisition condition includes that the second distance is smaller than a second distance threshold, the second relative speed is not larger than a third speed threshold, and a ratio of the second distance to the second relative speed is smaller than a second duration threshold, the second distance threshold is not larger than the first distance threshold, the third speed threshold is not larger than the first speed threshold, and the second duration threshold is smaller than the first duration threshold.

Optionally, the left side, the right side, the front end, and the rear end of the automobile are each configured with at least one radar, each radar is configured to detect a distance and a relative speed between the automobile and a target object in a corresponding direction of the corresponding radar, each radar corresponds to one camera, and the processor is configured to:

and if the second distance and the second relative speed acquired by the first radar meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application, wherein the image acquisition duration is a first duration.

Optionally, the processor is configured to:

acquiring a third distance and a fourth relative speed between the automobile and the target object, which are acquired by the first radar at a fourth moment;

if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling a camera corresponding to the first radar to stop image acquisition through the camera application;

and if the third distance and the fourth relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to continue image acquisition through the camera application, wherein the image acquisition duration is the first duration.

Optionally, the processor is configured to:

acquiring a fourth distance and a fifth relative speed between the automobile and the target object, which are acquired by each radar at a fifth moment;

and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application and releasing the first memory space allocated to the camera application.

In another aspect, a video image capturing apparatus configured in a control device on an automobile, the control device having a camera application running thereon, the apparatus includes:

the first acquisition module is used for acquiring a first distance and a first relative speed between the automobile and the target object, which are acquired at a first moment;

a starting module, configured to allocate a first memory space for the camera application if the first distance and the first relative speed satisfy a starting condition of the camera application, and run the camera application based on the first memory space;

the second acquisition module is used for acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and the acquisition module is used for controlling a camera of the automobile to acquire images through the camera application if the second distance and the second relative speed meet image acquisition conditions, wherein the image acquisition conditions refer to conditions for triggering image acquisition when the automobile and the target object have a collision risk.

Optionally, the starting condition of the camera application includes that the first distance is smaller than a first distance threshold, a first relative speed is not greater than a first speed threshold, and a ratio between the first distance and the first relative speed is smaller than a first duration threshold, where the first duration threshold is n times of a starting duration of the camera application, and n is not smaller than 2.

Optionally, the starting module is mainly configured to:

and if the size of the currently unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space is the allocated memory space for each currently running application, the sum of the second memory space and the currently unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

The third acquisition module is used for acquiring a third relative speed between the automobile and the target object acquired at a third moment;

an initialization module, configured to initialize driving of the camera application if the third relative speed is greater than a second speed threshold, where the second speed threshold is less than the first speed threshold.

Optionally, the image acquisition conditions include that the second distance is less than a second distance threshold, the second relative velocity is not greater than a third velocity threshold, and a ratio of the second distance to the second relative velocity is less than a second duration threshold, the second distance threshold is not greater than the first distance threshold, the third velocity threshold is not greater than the first velocity threshold, and the second duration threshold is less than the first duration threshold.

Optionally, the left side, the right side, the front end and the rear end of the automobile are all configured with at least one radar, each radar is used for detecting the distance and the relative speed between the automobile and a target object in the corresponding direction of the corresponding radar, each radar corresponds to one camera, and the acquisition module is mainly used for:

and if the second distance and the second relative speed acquired by the first radar meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application, wherein the image acquisition time is a first time.

Optionally, the acquisition module is further configured to:

acquiring a third distance and a fourth relative speed between the automobile and the target object, which are acquired by the first radar at a fourth moment;

if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling a camera corresponding to the first radar to stop image acquisition through the camera application;

and if the third distance and the fourth relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to continue image acquisition through the camera application, wherein the image acquisition time length is the first time length.

Optionally, the acquisition module is further configured to:

acquiring a fourth distance and a fifth relative speed between the automobile and the target object, which are acquired by each radar at a fifth moment;

and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application and releasing the first memory space allocated to the camera application.

In another aspect, an automobile is provided, the automobile comprising a control device having a camera application running thereon, the control device being configured to:

acquiring a first distance and a first relative speed between an automobile and a target object, which are acquired at a first moment;

if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space;

acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and if the second distance and the second relative speed meet an image acquisition condition, controlling a camera of the automobile to acquire an image through the camera application, wherein the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have a collision risk.

Optionally, the automobile further includes a plurality of radars and a plurality of cameras, the radars are disposed around the automobile, and at least one radar is disposed on each of the left side, the right side, the front end, and the rear end of the automobile, and each radar corresponds to one camera of the plurality of cameras;

the radar is used for acquiring the distance and the relative speed between the automobile and a target object according to a preset period;

the control equipment is used for acquiring the distance and the relative speed between the automobile and the object, which are acquired by each radar at each moment; if a first distance and a first relative speed between an automobile and a target object, which are acquired by a first radar at a first moment, meet a starting condition of a camera application, allocating a first memory space for the camera application, and operating the camera application based on the first memory space, wherein the first radar is any radar in the plurality of radars; acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired by the first radar at a second moment, wherein the second moment is later than the first moment; and if the second distance and the second relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a computer, implements the steps of the video image capturing method described above.

In another aspect, a computer program product comprising instructions is provided, which when run on a computer, causes the computer to perform the steps of the video image acquisition method described above.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

in the embodiment of the application, the control device firstly judges whether the starting condition of the camera application is met or not according to the distance and the relative speed between the target object and the automobile acquired at the first moment, and starts the camera application under the condition that the starting condition of the camera application is met. After the camera application is started, whether the automobile and the target object have collision risks or not is judged based on the distance and the relative speed between the automobile and the target object acquired at the second moment, and if the image acquisition is required, the camera can be immediately controlled to acquire the image through the camera application started at the first moment, so that the timeliness of the image acquisition is ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an automobile according to an embodiment of the present disclosure;

fig. 2 is a flowchart of a video image capturing method according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a video image capturing device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Before explaining the embodiments of the present application in detail, a system architecture related to the embodiments of the present application will be described.

Fig. 1 is a schematic structural diagram of an automobile according to an embodiment of the present application. As shown in fig. 1, the automobile comprises a control device 101, a plurality of radars 102 and a plurality of cameras 103, wherein the radars 102 are deployed around the automobile, at least one radar 102 is deployed on the left side, the right side, the front end and the rear end of the automobile, and each radar 102 corresponds to one camera in the cameras 103.

For example, there may be one radar 102 deployed on the left side of the automobile, or there may be multiple radars 102 deployed on the left side of the automobile, if there is one radar 102 deployed on the left side of the automobile, the radar 102 may be installed at a position on the left side of the automobile near the rear view mirror, if there are multiple radars 102 deployed on the left side of the automobile, there may also be one radar 102 installed at each of the position on the left side of the automobile near the rear view mirror and above the front and rear wheel hubs of the automobile, and the multiple radars 102 may also be installed at other suitable positions on the left side of the automobile.

The number and the installation position of the radars 102 deployed on the right side of the vehicle may refer to the number and the installation position of the radars 102 deployed on the left side of the vehicle, which is not described herein again.

The number of the radars 102 deployed at the front end of the automobile can be one or more, and if the number of the radars 102 deployed at the front end of the automobile is one, the radar 102 can be installed in the middle of the front bumper of the automobile. If there are a plurality of radars 102 deployed at the front end of the automobile, one radar 102 may be respectively installed in the middle of the front bumper of the automobile and on the left side and/or the right side of the front bumper, and the plurality of radars 102 may also be all installed at other suitable positions at the front end of the automobile, which is not limited in this embodiment of the application.

The number and the position of the radars 102 deployed at the rear end of the vehicle may refer to the number and the position of the radars 102 deployed at the front end of the vehicle, and the embodiment of the present application is not described herein again.

In addition, one camera 103 may be disposed on each of the left side, the right side, the front end, and the rear end of the automobile. Wherein the camera 103 disposed on the left side of the automobile can be installed at the left side of the automobile near the rear view mirror, and the radar 102 or radars installed on the left side of the automobile correspond to the camera 103 installed on the left side of the automobile. The camera 103 deployed on the right side of the car may be mounted on the right side of the car near the rear view mirror, and the radar or radars 102 mounted on the right side of the car correspond to the camera 103 mounted on the right side of the car. The camera 103 disposed at the front end of the automobile may be installed in the middle of the front end of the automobile, for example, above the license plate of the automobile, and the radar(s) 102 installed at the front end of the automobile correspond to the camera 103 installed at the front end of the automobile, and the camera 103 disposed at the rear end of the automobile may be installed in the middle of the rear end of the automobile, for example, above the license plate of the automobile, and the radar(s) 102 installed at the rear end of the automobile correspond to the camera 103 installed at the rear end of the automobile. The cameras 103 disposed at the left side, the right side, the front end and the rear end of the automobile can also be respectively installed at other suitable positions at the left side, the right side, the front end and the rear end of the automobile, which is not limited in the embodiment of the present application.

It should be noted that the above is only one deployment manner of the radar and the camera shown in the embodiment of the present application, and in some possible cases, more or fewer radars and cameras may be deployed on the vehicle. For example, the radar and the camera may be disposed at the front and rear ends of the automobile, but not at the left and right sides, or may be disposed at the left and right sides of the automobile, but not at the front and rear ends, and the like, which is not limited in this embodiment.

In the embodiment of the present application, the radar 102 is used for acquiring the distance and the relative speed between the automobile and the target object according to a preset period. For example, radars 102 deployed in various directions of a car may be used to acquire the distance and relative speed between the car and a target object in the corresponding direction of the respective radar 102 according to a preset period. For example, the radar 102 deployed on the right side of the automobile may be used to acquire the distance and relative speed between the automobile and a target object located on the right side of the automobile according to a preset period.

The control equipment 101 is used for acquiring the distance and the relative speed between the automobile and the object, which are acquired by each radar 102 at each moment; if a first distance and a first relative speed between the automobile and the target object, which are acquired by a first radar at a first moment, meet the starting condition of the camera application, allocating a first memory space for the camera application, and operating the camera application based on the first memory space, wherein the first radar is any one of the plurality of radars 102; acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired by the first radar at a second moment, wherein the second moment is later than the first moment; and if the second distance and the second relative speed meet the image acquisition condition, controlling the camera 103 corresponding to the first radar to acquire the image through the camera application.

The control device 101 in the embodiment of the present application may be a vehicle-mounted terminal on an automobile, or may be other control devices deployed in the automobile. The radar can be a millimeter wave radar, a laser radar, and also can be other types of radars, which is not limited in the embodiment of the application.

Next, a video image capturing method provided in the embodiment of the present application is described.

Fig. 2 is a video image capturing method according to an embodiment of the present disclosure. The method can be applied to the control device included in the video image acquisition system described in the above embodiment. As shown in fig. 2, the method comprises the steps of:

step 201: a first distance and a first relative velocity between the vehicle and the target object, which are acquired at a first time, are acquired.

As can be seen from the above description, at least one radar is deployed on each of the left side, the right side, the front end, and the rear end of the automobile, and due to the limited radiation range of the radar waves, the radar in each direction is used for collecting the distance and the relative speed between the target object detected in the corresponding direction and the automobile, and therefore, the target object detected by each radar may be different.

Alternatively, in the case where there are many radars deployed in an automobile, there may be overlap in the radiation ranges of radar waves between two radars located closer, and therefore, the target objects detected by the respective radars may also be the same.

In the embodiment of the application, each radar may acquire a distance and a relative speed between a target object and an automobile, which may exist in a direction corresponding to the radar per se, according to a preset period, and send the acquired distance and relative speed between the automobile and the target object to a control device in real time through a Controller Area Network (CAN) bus. Based on this, after each radar acquires the distance and the relative speed between the automobile and the target object possibly existing in the corresponding direction of the radar at the first moment, the acquired distance and relative speed between the automobile at the first moment and the target object in the corresponding direction can be sent to the control device. Accordingly, the control device receives the distance and the relative speed between the automobile and the target object in the corresponding direction at the first moment acquired by each radar, and takes the received distance and the received relative speed acquired by each radar at the first moment as the first distance and the first relative speed corresponding to the corresponding radar. In this way, when a plurality of radars which acquire the distance and the relative speed at the first time are provided, the first distance and the first relative speed which are acquired by the control device at the first time are both provided in plurality. Wherein one radar corresponds to one first distance and one first relative velocity.

The preset period may be 100ms, 150ms or other values, which is not limited in the embodiments of the present application. The first time may be any acquisition time in the process of acquiring data by the radar according to a preset period.

After obtaining the first distance and the first relative speed acquired by each radar, the control device compares the first distance acquired by each radar with a first distance threshold, compares the first relative speed with a first speed threshold, and compares the ratio of the first distance to the corresponding first relative speed with a first time-length threshold, so as to judge whether the first distance and the first relative speed meet the starting condition of the camera application. If the first distance corresponding to any radar is smaller than a first distance threshold value, the first relative speed is not larger than a first speed threshold value, and the ratio of the first distance to the corresponding first relative speed is smaller than a first time length threshold value, it is indicated that the first distance and the first relative speed meet the starting condition of the camera application, and if the first distance corresponding to each radar is not smaller than the first distance threshold value or the first relative speed is larger than the first speed threshold value or the ratio of the first distance to the corresponding first relative speed is not smaller than the first time length threshold value, it is indicated that the first distance and the first relative speed do not meet the starting condition of the camera application.

It should be noted that the first distance corresponding to the radar is smaller than the first distance threshold and the first relative speed is smaller than the first speed threshold, which indicates that the distance between the target object detected by the radar and the vehicle is short, and since the relative speed between the target object and the vehicle is lower than the first distance threshold, the target object may actively collide with the vehicle. If the ratio of the first distance to the first relative speed is smaller than the first duration threshold, it indicates that the estimated duration for the target object to collide with the host vehicle is smaller than the first duration threshold set for obtaining an image in time. Accordingly, it may be determined that the first distance and the first relative speed satisfy the start-up condition of the camera application.

In addition, since the vehicle distance is small and the vehicle speed is low in a congested road section, the possibility of a collision between automobiles or a porcelain collision event is high, in the embodiment of the present application, the first distance threshold may be set to any value not greater than 30m, for example, 28m or 26 m. The first speed threshold is set to any value not greater than 30km/h, for example 28km/h or 25 mkm/h. On the basis, the first distance between the automobile and the target object acquired by the radar is compared with the first distance threshold, the first relative speed between the automobile and the target object acquired by the radar is compared with the first speed threshold to judge whether the automobile or the pedestrian can actively collide with the automobile, and the judgment accuracy can be improved.

Besides, the first time threshold may be n times of the start-up time of the camera application, and n is not less than 2. For example, n may be 3, 4 or other values, which are not limited in the embodiments of the present application. In this way, enough time can be reserved for the camera application to start, so as to avoid the situation that the video image cannot be shot due to the fact that the camera application cannot be started in time. The starting time of the camera application is generally 800ms-1.2 s.

Step 202: and if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space.

If the control device determines that the first distance and the first relative speed satisfy the starting condition of the camera application in the manner described above, the control device may allocate a first memory space to the camera application and run the camera application based on the first memory space. Otherwise, the control device does not start the camera application.

The control device may first perform drive initialization on the camera application after determining that the first distance and the corresponding first relative speed transmitted by any one of the plurality of received radars satisfy a start condition of the camera application. Thereafter, the control device determines whether the size of the currently unallocated memory space is greater than the size of the memory space required by the camera application. And if the size of the current unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space refers to the memory space allocated to each application currently running, the sum of the second memory space and the current unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

Exemplarily, if the size of the currently unallocated memory space is not greater than the size of the memory space required by the camera application, the memory space allocated to each currently running application, which is not used, is released, and if the size of the unallocated memory space after the release is greater than the size of the memory space required by the camera application, the first memory space is allocated to the camera application from the unallocated memory space after the release. The size of the first memory space is larger than that of the memory space required by the camera application.

For example, the control device may determine the size of the memory space required for the camera application according to the number of cameras deployed on the automobile and the resolution of each camera. And then, counting the size of the memory space which is not allocated currently, and comparing the size of the memory space which is not allocated currently with the size of the memory space required by starting the camera application. If the size of the memory space which is not allocated currently is larger than the size of the memory space required by the camera application, the required memory space can be directly allocated for the camera application. If the size of the memory space which is not allocated currently is not larger than the size of the memory space required by the camera application, the memory space which is not used in the memory space of each currently running application can be released by executing an echo3>/proc/sys/vm/drop _ caches command, after the memory space which is not used is released by each application, the size of the memory space which is not allocated per se is counted again, and if the size of the memory space which is not allocated after the release is larger than the size of the memory space required by the camera application, a first memory space is allocated for the camera application from the memory space which is not allocated after the release.

If the size of the unallocated memory space after the releasing is not greater than the size of the memory space required by the camera application, it indicates that the memory space required by the camera application cannot be allocated for the camera application to start running, and in this case, the control device may determine at least one target application based on the activity of each application currently running and the size of the memory space required by the camera application; closing at least one target application and releasing the memory space occupied by the at least one target application; and allocating a first memory space for the camera application from the unallocated memory space after the releasing.

For example, if the size of the unallocated memory space after the releasing is still not greater than the size of the memory space required to start the camera application, the control device may determine a difference between the size of the memory space required by the camera application and the size of the currently unallocated memory space, where the difference is the memory space that the control device at least needs to release. And then ranking the liveness of each currently running application, counting the memory space occupied by each application, determining a target application to be closed from the applications with ranked liveness according to the calculated difference and the size of the memory space occupied by each application, and closing the target application to release the memory space occupied by the target application. And then, allocating a first memory space for the camera application from the unallocated memory space after the release.

For example, assuming that the memory space required by the camera application is 20M and the size of the currently unallocated memory space is 4M, it may be determined that at least 16M of memory space needs to be released. At this time, assuming that the number of currently running applications is 10, the control device may rank the 10 running applications according to the liveness, and count the memory space occupied by each running application. Assuming that the memory space occupied by the first application, the memory space occupied by the second application and the memory space occupied by the third application are 7M, 10M and 8M respectively, where the liveness of the first application is counted from low to high, because the memory space required by the camera application is 20M, the control device may determine the first application and the second application with ranked liveness as the target application, close the first application and the second application, release the memory space occupied by the first application and the second application, and release the memory space of 17M by closing the first application and the second application, the unallocated memory space is 21M, and the control device may allocate the memory space not smaller than 20M to the camera application.

Alternatively, as can be seen from the above description, the start-up time of the camera application is typically 800ms to 1.2s, where there is a time of about 200ms for performing the driving initialization of the camera application. Therefore, in the embodiment of the present application, the control device may further perform drive initialization of the camera application in advance before allocating a memory space for the camera application and running the camera application.

For example, the control device may acquire a third relative speed between the automobile and the target object acquired at a third time before the first time; drive initialization is performed on the camera application if the third relative speed is greater than a second speed threshold, the second speed threshold being less than the first speed threshold. Wherein the third speed threshold may be any value greater than zero.

At a third moment, the control device may compare the third relative speed acquired by each radar with the second speed threshold, and when the third relative speed acquired by any radar is greater than the second speed threshold, it indicates that the target object and the automobile are close to each other and there is a possibility of collision, and at this time, the control device may control the camera application to perform drive initialization. After the camera application completes drive initialization, when the control device receives the distance and the relative speed acquired by each radar again, the moment can be used as a first moment, the distance received at the moment is used as a first distance, and the relative speed is used as a first relative speed, so that whether the camera application meets a starting condition or not is judged in the manner introduced in the step, a first memory space is allocated for the camera application, and the camera application is operated based on the first memory space. At this time, the camera application has already completed the drive initialization, so when the control device determines that the first distance and the first relative speed satisfy the starting condition of the camera application to start the camera application, the starting duration of the camera application can be shortened.

Step 203: and acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment.

From the above description, the left side, the right side, the front end and the rear end of the automobile are all provided with at least one radar, and each radar corresponds to one camera. The control device may continue to receive the distance and relative speed between the respective radar-transmitting cars and the target object after the camera application is initiated. And when the control equipment receives the distance and the relative speed between the automobile and the target object at the second moment, which are acquired by each radar at the second moment, the received distance between the automobile and the target object at the second moment, which are sent by each radar, is used as the second distance corresponding to the corresponding radar, and the received relative speed between the automobile and the target object at the second moment, which are sent by each radar, is used as the second relative speed of the corresponding radar. Then, for each radar, the control device may determine whether the second distance and the second relative speed acquired by the corresponding radar satisfy the image acquisition condition. The image acquisition condition refers to a condition for triggering image acquisition when the automobile and the target object have collision risks. That is, the image capturing condition is a condition that the control device needs to perform image capturing when determining that the vehicle and the target object may collide with each other according to a second distance and a second relative speed between the vehicle and the target object, which are captured by a certain radar. The second time is later than the first time, and the second time may be, for example, a next radar data acquisition time to the first time.

Illustratively, taking the first radar as an example, the control device compares the second distance acquired by the first radar with a second distance threshold, compares the second relative speed acquired by the first radar with a third speed threshold, and compares the ratio of the second distance to the second relative speed of the first radar with a second duration threshold. And if the second distance of the first radar is smaller than the second distance threshold, the second relative speed is not larger than the third speed threshold, and the ratio of the second distance to the second relative speed is smaller than the second duration threshold, the second distance and the second relative speed acquired by the first radar meet the image acquisition condition. And if the second distance acquired by the first radar is not less than the second distance threshold value, or the second relative speed is greater than the third speed threshold value, or the ratio of the second distance to the second relative speed is not less than the second duration threshold value, it is indicated that the second distance and the second relative speed acquired by the first radar do not satisfy the image acquisition condition.

The second distance threshold is not larger than the first distance threshold, the third speed threshold is not larger than the first speed threshold, and the second duration threshold is smaller than the first duration threshold. Because the second distance is the distance between the vehicle and the target object acquired by the radar after the camera is turned on, and when the second distance threshold is not greater than the first distance threshold, the third speed threshold is not greater than the first speed threshold, and the second duration threshold is less than the first duration threshold, if the second distance of the first radar is less than the second distance threshold, the second relative speed is not greater than the third speed threshold, and the ratio of the second distance to the second relative speed is less than the second duration threshold, it is indicated that the distance between the vehicle and the target object is further shortened, that is, the possibility of collision between the vehicle and the target object is further increased, and therefore, the video image needs to be immediately acquired. That is, the second distance and the second relative speed acquired by the first radar have satisfied the image acquisition condition, in which case the control apparatus may perform image acquisition by the following step 204.

Step 204: and if the second distance and the second relative speed meet the image acquisition condition, controlling a camera of the automobile to acquire images through the camera application.

When the second distance and the second relative speed acquired by any radar meet the image acquisition condition, the control equipment can control the camera corresponding to the corresponding radar to acquire the image through the camera application.

Still taking the first radar as an example, after determining that the second distance and the second relative speed acquired by the first radar satisfy the image acquisition condition, the control device may control the camera corresponding to the first radar to perform image acquisition through the camera application. The time length of image acquisition is a first time length. For example, the first duration may be 10s, or may be other durations, which is not limited in this embodiment of the application.

For example, the control device may control, through the camera application, the camera corresponding to the first radar to acquire the video image, and perform timing while the camera starts acquiring the video image, and after the acquisition duration reaches the first duration, control the camera corresponding to the first radar to stop acquiring the video image.

Optionally, the control device may also continue to receive the distance and the relative speed between the vehicle and the target object, which are acquired by the first radar, after the acquisition duration of the video image acquired by the camera corresponding to the first radar reaches the first duration, and after receiving the third distance and the third relative speed, which are acquired by the first radar at the fourth time, between the vehicle and the target object, the control device may continue to determine whether the third distance and the fourth relative speed still satisfy the image acquisition condition with reference to the method described above, and if the third distance and the fourth relative speed still satisfy the image acquisition condition, control the camera corresponding to the first radar to continue to acquire the image by using the camera, where the duration of the image acquisition is still the first duration. And if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling the camera corresponding to the first radar to stop image acquisition through the camera application. The fourth time may be a first radar data acquisition time after the video image of the first duration is acquired from the second time.

In addition, the control device continues to receive the distance and the relative speed between the automobile and the target object sent by the first radar during image acquisition through the camera corresponding to the camera application and controls the first radar, and counts the speed of the automobile in the time period. After the camera corresponding to the first radar stops image acquisition, correspondingly storing each frame of video image acquired by the camera corresponding to the first radar, the distance between the automobile and the target object when the corresponding video image is acquired, the relative speed, the speed of the automobile and the radar number of the first radar.

Each frame of video image acquired by the camera corresponding to the first radar may include a watermark, and the watermark may indicate acquisition time of the frame of image. Illustratively, the format of the watermark may be 2021/9/611:40: 35.

Optionally, before storing the video image captured by the camera corresponding to the first radar, it may be determined whether an unused storage space on the control device is larger than a first storage threshold, and if the unused storage space is not larger than the first storage threshold, the video image with the earliest storage time in the stored video images is deleted, and then the video image captured by the camera corresponding to the first radar is stored. And if the unused storage space is larger than a first storage threshold value, directly storing the camera acquisition corresponding to the first radar.

When the first video image is stored, the first video image can be named by adopting a file naming mode of front _ cam _20210906-11:40:35.mp4, so that a user can conveniently and quickly find the first video image when the user needs to use the first video image later.

After determining that the camera corresponding to the first radar stops image acquisition, the control device may acquire a fourth distance and a fifth relative speed between the automobile and the target object, which are acquired by each radar at a fifth moment; and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application, and releasing the first memory space allocated to the camera application.

For example, the control device may set the distance between the vehicle and the target object transmitted by each radar received at the fifth time as the fourth distance corresponding to the corresponding radar, and set the relative speed between the vehicle and the target object transmitted by each radar received at the fifth time as the fifth relative speed. The fifth time may be any time after the fourth time, or the fifth time and the fourth time may be the same time. And then, comparing the received fourth distance sent by each radar with a fourth distance threshold, comparing the received fifth relative speed sent by each radar with a fourth speed threshold, and comparing the ratio of the received fourth distance sent by each radar to the corresponding fifth relative speed with a fourth time threshold. If the received fourth distances sent by all the radars are not less than the fourth distance threshold, and the ratios between the received fourth distances sent by all the radars and the corresponding fifth relative speeds are not less than the fourth time threshold or the received fifth relative speeds sent by all the radars are greater than the fourth speed threshold, it is indicated that the fourth distances and the fifth relative speeds meet the closing condition of the camera application, at this time, the camera application can be closed, and the first memory space allocated for the camera application is released.

If the received fourth distance sent by any radar is smaller than a fourth distance threshold value, or the ratio of the received fourth distance sent by any radar to the corresponding fifth relative speed is smaller than a fourth time threshold value, or the received fifth relative speed sent by any radar is not larger than a fourth speed threshold value, it indicates that the fourth distance and the fifth relative speed do not satisfy the closing condition of the camera application, and at this time, the camera application is continuously kept in the opening state.

The fourth distance threshold is greater than the first distance threshold, the fourth speed threshold is greater than the first speed threshold, and the fourth time threshold is greater than the first time threshold.

Illustratively, the first distance threshold may be any value greater than the first distance threshold, e.g., 40 m. If the fourth distances sent by all the radars received by the control device are not less than the fourth distance threshold, and the ratios of the fourth distances sent by all the radars to the corresponding fifth relative speeds are not less than the fourth time threshold, or the received fifth relative speeds sent by all the radars are greater than the fourth speed threshold, it is indicated that the automobile and the target object are changed from the close state to the far state, and collision is unlikely to occur, so that the camera application can be closed.

Optionally, after determining that the camera corresponding to the first radar stops image acquisition, the control device may further detect the states of the cameras corresponding to the respective radars, and if it is detected that the cameras corresponding to all the radars deployed in the automobile do not perform image acquisition, determine whether a fourth distance and a fifth relative speed acquired by the respective radars at a fifth moment satisfy a closing condition for the camera application. If it is detected that a camera corresponding to any radar deployed on the automobile is acquiring a video image, it indicates that the camera application closing condition is not met, and at this time, it is not necessary to judge whether the fourth distance and the fifth relative speed acquired by each radar at the fifth moment meet the camera application closing condition.

In the embodiment of the application, the control device firstly judges whether the starting condition of the camera application is met or not according to the distance and the relative speed between the target object and the automobile acquired at the first moment, and starts the camera application under the condition that the starting condition of the camera application is met. After the camera application is started, whether the automobile and the target object have collision risks or not is judged based on the distance and the relative speed between the automobile and the target object acquired at the second moment, and if the image acquisition is required, the camera can be immediately controlled to acquire the image through the camera application started at the first moment, so that the timeliness of the image acquisition is ensured.

Next, a video image capturing apparatus provided in the embodiment of the present application is described.

Referring to fig. 3, an embodiment of the present application provides a video image capturing apparatus 300 configured in a control device on an automobile, where a camera application runs on the control device, and the apparatus 300 includes:

a first obtaining module 301, configured to obtain a first distance and a first relative speed between the vehicle and the target object, which are collected at a first time;

a starting module 302, configured to allocate a first memory space for the camera application if the first distance and the first relative speed satisfy a starting condition of the camera application, and run the camera application based on the first memory space;

a second obtaining module 303, configured to obtain a second distance and a second relative speed between the vehicle and the target object, which are collected at a second time, where the second time is later than the first time;

and the acquisition module 304 is configured to control a camera of the automobile to acquire an image through the camera application if the second distance and the second relative speed satisfy an image acquisition condition, where the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have a collision risk.

Optionally, the starting condition of the camera application includes that the first distance is less than a first distance threshold, the first relative speed is not greater than a first speed threshold, and a ratio between the first distance and the first relative speed is less than a first duration threshold, the first duration threshold is n times of a starting duration of the camera application, and n is not less than 2.

Optionally, the starting module 302 is mainly configured to:

and if the size of the current unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space is the allocated memory space for each application currently running, the sum of the second memory space and the current unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

Optionally, the apparatus 300 further includes:

the third acquisition module is used for acquiring a third relative speed between the automobile and the target object acquired at a third moment;

and the initialization module is used for performing drive initialization on the camera application if the third relative speed is greater than a second speed threshold, wherein the second speed threshold is less than the first speed threshold.

Optionally, the image acquisition condition includes that the second distance is smaller than a second distance threshold, the second relative speed is not greater than a third speed threshold, and a ratio of the second distance to the second relative speed is smaller than a second duration threshold, the second distance threshold is not greater than the first distance threshold, the third speed threshold is not greater than the first speed threshold, and the second duration threshold is smaller than the first duration threshold.

Optionally, the left side, the right side, the front end, and the rear end of the automobile are each configured with at least one radar, each radar is used to detect a distance and a relative speed between the automobile and a target object in a corresponding direction of the corresponding radar, each radar corresponds to one camera, and the acquisition module 304 is mainly used to:

and if the second distance and the second relative speed acquired by the first radar meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through a camera application, wherein the image acquisition time is the first time.

Optionally, the acquisition module 304 is further configured to:

acquiring a third distance and a fourth relative speed between the automobile and the target object, which are acquired by the first radar at a fourth moment;

if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling a camera corresponding to the first radar to stop image acquisition through the camera application;

and if the third distance and the fourth relative speed meet the image acquisition condition, controlling the camera corresponding to the first radar to continue image acquisition through the camera application, wherein the image acquisition duration is the first duration.

Optionally, the acquisition module 304 is further configured to:

acquiring a fourth distance and a fifth relative speed between the automobile and the target object, which are acquired by each radar at a fifth moment;

and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application and releasing the first memory space allocated to the camera application.

In summary, in the embodiment of the present application, the control device first determines whether the starting condition of the camera application is satisfied according to the distance and the relative speed between the target object and the automobile acquired at the first time, and starts the camera application when the starting condition of the camera application is satisfied. After the camera application is started, whether the automobile and the target object have collision risks or not is judged based on the distance and the relative speed between the automobile and the target object acquired at the second moment, and if the image acquisition is required, the camera can be immediately controlled to acquire the image through the camera application started at the first moment, so that the timeliness of the image acquisition is ensured.

It should be noted that, when the video image capturing apparatus provided in the foregoing embodiment captures a video image, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the video image acquisition device and the video image acquisition method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments in detail and are not described herein again.

Fig. 4 is a block diagram illustrating a configuration of a control apparatus 400 according to an exemplary embodiment. The video image acquisition in the above embodiment can be realized by the control device 400. The control device 400 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a vehicle-mounted terminal, or the like.

In general, the control device 400 includes: a processor 401 and a memory 402.

Processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 401 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 401 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 401 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 401 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 402 is used to store at least one instruction for execution by processor 401 to implement the video image capture method provided by the method embodiments herein.

In some embodiments, the control device 400 may further optionally include: a peripheral interface 403 and at least one peripheral. The processor 401, memory 402 and peripheral interface 403 may be connected by buses or signal lines. Each peripheral may be connected to the peripheral interface 403 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 404, display screen 405, audio circuitry 407, and power supply 409.

The peripheral interface 403 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 401 and the memory 402. In some embodiments, processor 401, memory 402, and peripheral interface 403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 401, the memory 402, and the peripheral interface 403 may be implemented on separate chips or circuit boards, which is not limited by the embodiment.

The Radio Frequency circuit 404 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 404 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 404 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 404 may communicate with other control devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 404 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 405 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 405 is a touch display screen, the display screen 405 also has the ability to capture touch signals on or over the surface of the display screen 405. The touch signal may be input to the processor 401 as a control signal for processing. At this point, the display screen 405 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 405 may be one, providing the front panel of the control device 400; in other embodiments, the display screen 405 may be at least two, respectively disposed on different surfaces of the control device 400 or in a folded design; in still other embodiments, the display screen 405 may be a flexible display screen disposed on a curved surface or a folded surface of the control device 400. Even further, the display screen 405 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display screen 405 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials. It should be noted that, in the embodiment of the present application, when the control device 400 is a landscape control device, the aspect ratio of the display screen of the control device 400 is greater than 1, for example, the aspect ratio of the display screen of the control device 400 may be 16:9 or 4: 3. When the control device 400 is a portrait control device, then the aspect ratio of the display screen of the control device 400 is less than 1, for example, the aspect ratio of the display screen of the control device 400 may be 9:18 or 3:4, etc.

The audio circuit 407 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 401 for processing, or inputting the electric signals to the radio frequency circuit 404 for realizing voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and located at different locations on the control device 400. The microphone may also be an array microphone or an omni-directional acquisition microphone. The speaker is used to convert electrical signals from the processor 401 or the radio frequency circuit 404 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 407 may also include a headphone jack.

The power supply 409 is used to supply power to the various components in the control device 400. The power source 409 may be alternating current, direct current, disposable or rechargeable. When the power source 409 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the control device 400 also includes one or more sensors 410. The one or more sensors 410 include, but are not limited to: acceleration sensor 411, gyro sensor 412, pressure sensor 413, fingerprint sensor 414, optical sensor 415, and proximity sensor 416.

The acceleration sensor 411 can detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the control apparatus 400. For example, the acceleration sensor 411 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 401 may control the display screen 405 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 411. The acceleration sensor 411 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 412 may detect a body direction and a rotation angle of the control apparatus 400, and the gyro sensor 412 may collect a 3D motion of the user on the control apparatus 400 in cooperation with the acceleration sensor 411. From the data collected by the gyro sensor 412, the processor 401 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

The pressure sensor 413 may be disposed on a side bezel of the control device 400 and/or on a lower layer of the display screen 405. When the pressure sensor 413 is arranged on the side frame of the control device 400, a holding signal of the user to the control device 400 can be detected, and the processor 401 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 413. When the pressure sensor 413 is disposed at the lower layer of the display screen 405, the processor 401 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 405. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 414 is used for collecting a fingerprint of the user, and the processor 401 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 414, or the fingerprint sensor 414 identifies the identity of the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, processor 401 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 414 may be provided to control the front, back, or side of the device 400. When a physical key or vendor Logo is provided on the control device 400, the fingerprint sensor 414 may be integrated with the physical key or vendor Logo.

The optical sensor 415 is used to collect the ambient light intensity. In one embodiment, processor 401 may control the display brightness of display screen 405 based on the ambient light intensity collected by optical sensor 415. Specifically, when the ambient light intensity is high, the display brightness of the display screen 405 is increased; when the ambient light intensity is low, the display brightness of the display screen 405 is reduced. In another embodiment, the processor 401 may also be based on the ambient light intensity collected by the optical sensor 415.

A proximity sensor 416, also called a distance sensor, is typically provided on the front panel of the control device 400. The proximity sensor 416 is used to capture the distance between the user and the front of the control device 400. In one embodiment, the processor 401 controls the display screen 405 to switch from the bright screen state to the dark screen state when the proximity sensor 416 detects that the distance between the user and the front face of the control device 400 is gradually decreased; the display screen 405 is controlled by the processor 401 to switch from a breath-screen state to a bright-screen state when the proximity sensor 416 detects that the distance between the user and the front surface of the control device 400 is gradually increasing.

That is, not only is the present embodiment provide a control device including a processor and a memory for storing processor-executable instructions, wherein the processor is configured to execute the video image capturing method shown in fig. 2, but also the present embodiment provides a computer-readable storage medium having stored therein a computer program, which when executed by the processor can implement the video image capturing method shown in fig. 2.

Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the video image capturing method provided in the embodiment shown in fig. 2.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description should not be taken as limiting the embodiments of the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the embodiments of the present application.

It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals referred to in the embodiments of the present application are authorized by the user or fully authorized by each party, and the collection, use and processing of the relevant data need to comply with relevant laws and regulations and standards in relevant countries and regions.

Claims (10)

1. A video image capturing method applied to a control device on an automobile, the control device having a camera application running thereon, the method comprising:

acquiring a first distance and a first relative speed between an automobile and a target object, which are acquired at a first moment;

if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space;

acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and if the second distance and the second relative speed meet an image acquisition condition, controlling a camera of the automobile to acquire an image through the camera application, wherein the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have collision risks.

2. The method according to claim 1, wherein the start-up condition of the camera application includes that the first distance is less than a first distance threshold, that a first relative speed is not greater than a first speed threshold, and that a ratio between the first distance and the first relative speed is less than a first duration threshold, the first duration threshold being n times a start-up duration of the camera application, the n being not less than 2.

3. The method of claim 1, wherein the allocating the first memory space for the camera application comprises:

and if the size of the currently unallocated memory space is not larger than the size of the memory space required by the camera application, releasing a second memory space from the allocated memory space based on the size of the memory space required by the camera application, wherein the allocated memory space is the allocated memory space for each currently running application, the sum of the second memory space and the currently unallocated memory space is larger than the size of the first memory space, and the difference between the sum of the spaces and the size of the first memory space is not smaller than a reference threshold value.

4. The method of claim 1, wherein the obtaining the first distance and the first relative velocity between the vehicle and the target object, acquired at the first time, further comprises:

acquiring a third relative speed between the automobile and the target object acquired at a third moment;

drive initialization is performed on the camera application if the third relative speed is greater than a second speed threshold, the second speed threshold being less than the first speed threshold.

5. The method of claim 2, wherein the image acquisition condition includes the second distance being less than a second distance threshold, the second relative velocity being not greater than a third velocity threshold, and a ratio of the second distance to the second relative velocity being less than a second duration threshold, the second distance threshold being not greater than the first distance threshold, the third velocity threshold being not greater than the first velocity threshold, the second duration threshold being less than the first duration threshold.

6. The method according to any one of claims 1 to 5, wherein the left side, the right side, the front end and the rear end of the automobile are each configured with at least one radar, each radar is used for detecting a distance and a relative speed between the automobile and a target object in a corresponding direction of the corresponding radar, each radar corresponds to one camera, and if the second distance and the second relative speed satisfy an image acquisition condition, the camera of the automobile is controlled by the camera application to perform image acquisition, and the method comprises the following steps:

and if the second distance and the second relative speed acquired by the first radar meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application, wherein the image acquisition duration is a first duration.

7. The method of claim 6, wherein after controlling the camera corresponding to the first radar by the camera application to perform image acquisition, the method further comprises:

acquiring a third distance and a fourth relative speed between the automobile and the target object, which are acquired by the first radar at a fourth moment;

if the third distance and the fourth relative speed do not meet the image acquisition condition, controlling a camera corresponding to the first radar to stop image acquisition through the camera application;

and if the third distance and the fourth relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to continue image acquisition through the camera application, wherein the image acquisition duration is the first duration.

8. The method of claim 6, further comprising:

acquiring a fourth distance and a fifth relative speed between the automobile and the target object, which are acquired by each radar at a fifth moment;

and if the fourth distance and the fifth relative speed acquired by each radar at the fifth moment both meet the closing condition of the camera application, closing the camera application and releasing the first memory space allocated to the camera application.

9. An automobile, comprising a control device having a camera application running thereon, the control device being configured to:

acquiring a first distance and a first relative speed between an automobile and a target object, which are acquired at a first moment;

if the first distance and the first relative speed meet the starting condition of the camera application, allocating a first memory space for the camera application, and running the camera application based on the first memory space;

acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired at a second moment, wherein the second moment is later than the first moment;

and if the second distance and the second relative speed meet an image acquisition condition, controlling a camera of the automobile to acquire an image through the camera application, wherein the image acquisition condition is a condition for triggering image acquisition when the automobile and the target object have a collision risk.

10. The automobile of claim 9, further comprising a plurality of radars and a plurality of cameras, wherein the radars are deployed around the automobile, and at least one radar is deployed on each of the left side, the right side, the front end, and the rear end of the automobile, and each radar corresponds to one of the cameras;

the radar is used for acquiring the distance and the relative speed between the automobile and a target object according to a preset period;

the control equipment is used for acquiring the distance and the relative speed between the automobile and the object, which are acquired by each radar at each moment; if a first distance and a first relative speed between an automobile and a target object, which are acquired by a first radar at a first moment, meet a starting condition of a camera application, allocating a first memory space for the camera application, and operating the camera application based on the first memory space, wherein the first radar is any radar in the plurality of radars; acquiring a second distance and a second relative speed between the automobile and the target object, which are acquired by the first radar at a second moment, wherein the second moment is later than the first moment; and if the second distance and the second relative speed meet the image acquisition condition, controlling a camera corresponding to the first radar to acquire an image through the camera application.

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