CN114760400A

CN114760400A - Camera device, vehicle and in-vehicle image acquisition method

Info

Publication number: CN114760400A
Application number: CN202210384023.1A
Authority: CN
Inventors: 陆雯超
Original assignee: Avatr Technology Chongqing Co Ltd
Current assignee: Avatr Technology Chongqing Co Ltd
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2022-07-15

Abstract

The embodiment of the invention relates to the technical field of intelligent automobiles, and discloses a camera device, which is used for acquiring image information in a vehicle and comprises the following components: a rail laid on a ceiling of the vehicle; and the camera module is arranged on the track and is configured to acquire image information of the interior of the vehicle when moving or being still along the track. By applying the technical scheme of the invention, the tracks are arranged on the ceiling of the vehicle, the camera module is arranged on the tracks, and the camera module is used for acquiring the image information in the vehicle when the camera module moves or is static along the tracks, so that the problem of dead zone shooting of the camera in the fixed vehicle can be solved, the user can be ensured to check and record the articles or conditions in the vehicle when required, the user can check the articles or conditions in the vehicle conveniently and check the articles in time, and the use experience of the user is improved.

Description

Camera device, vehicle and in-vehicle image acquisition method

Technical Field

The embodiment of the invention relates to the technical field of intelligent automobiles, in particular to a camera device, an automobile, an in-automobile image acquisition method and a computer readable storage medium.

Background

Existing cameras for vehicles are basically fixed (e.g. fixed integrated in the interior mirror) plus a basically unchangeable predefined layout of the interior, e.g. seats. Therefore, when the fixed camera is required to carry out in-vehicle camera shooting or photographing, certain visual or photographing blind areas often exist, and finally shot image information cannot meet set system requirements. Such as panoramic photography in a vehicle, full vehicle detection after leaving the vehicle and the like.

Therefore, how to solve the problem that the fixed type in-vehicle camera has vision or a shooting blind area when shooting or taking pictures.

Disclosure of Invention

In view of the above problems, an embodiment of the present invention provides a camera device, which is used to solve the problem that a fixed camera in a vehicle has a visual or shooting blind area during shooting or taking a picture in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a camera apparatus for acquiring image information of an interior of a vehicle, including:

a rail laid on a ceiling of the vehicle; and

the camera module is slidably mounted on the track and is configured to acquire image information of the interior of the vehicle when moving along the track or being static.

According to the camera device, the tracks are arranged along the ceiling of the vehicle, the camera modules are mounted on the tracks, the image information inside the vehicle is obtained when the camera modules move or are static along the tracks, the problem that the camera in the fixed vehicle shoots blind areas can be solved, the condition that a user looks over and records articles or conditions in the vehicle when the user needs the image information, the user can check the articles or the conditions in the vehicle conveniently and timely, and the use experience of the user is improved.

In an optional mode, the track includes a main track and a secondary track, the main track is communicated with the secondary track, the secondary track is arranged in a space surrounded by the main track, and the main track is laid around the edge of the ceiling.

In an alternative form, the secondary track comprises a linear track, and the linear track is arranged perpendicular to the length direction of the vehicle.

In an alternative mode, the sub-track includes at least two linear tracks, and the linear tracks are parallel to or intersect each other.

In an alternative mode, the camera module comprises a transmission assembly and a camera;

the transmission assembly is connected with the camera; the camera is connected to the track in a sliding mode through the transmission assembly.

In an alternative form, the camera is a universal camera.

According to another aspect of the embodiment of the invention, a vehicle is provided, wherein the vehicle is provided with the camera device; the camera device is electrically connected with an electronic control unit of the vehicle.

The vehicle is provided with the camera device, the track is arranged on the ceiling of the vehicle by the camera device, the camera module is arranged on the track, and the image information in the vehicle is acquired by the camera module when the camera module moves or is static along the track, so that the problem of dead zone shooting by the camera in the fixed vehicle can be solved, the user can check and record the articles or conditions in the vehicle when needed, the user can check and record the articles or conditions in the vehicle conveniently, and the use experience of the user is improved.

According to another aspect of the embodiments of the present invention, there is provided an in-vehicle image acquisition method, based on any one of the camera devices, the method including:

receiving an image acquisition instruction; and

and responding to the image acquisition instruction to control the camera module to acquire the image information in the vehicle.

According to the in-vehicle image acquisition method, the camera device is based on the camera device, the track is arranged along the ceiling of the vehicle, the camera module is arranged on the track, and after the camera device receives an image acquisition instruction, the camera device can acquire image information in the vehicle in the moving process or the static process along the track, so that the problem of a fixed in-vehicle camera shooting blind area is solved, a user can be ensured to check and record in-vehicle articles or conditions when required, the user can check and record in time, and the use experience of the user is improved.

In an optional manner, before the receiving an image acquisition instruction, the method further includes:

receiving a camera module adjusting instruction; the camera module adjusting instruction is used for controlling the camera module to move and/or controlling the camera to rotate;

Responding to the camera module adjusting instruction to control the camera module to move or control the camera to rotate.

In an alternative mode, the image acquisition instruction is input through a vehicle-mounted large screen of the vehicle or a mobile terminal connected with the vehicle by a user.

In an optional manner, the method further comprises:

processing the acquired image information;

and displaying the processed image information to the user through the vehicle-mounted large screen or the mobile terminal.

According to a further aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, is operable to perform the method of any one of the preceding claims.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

Fig. 1 is a schematic arrangement position diagram of a camera device in an embodiment;

FIG. 2a is a schematic view of one of the components of the track of FIG. 1;

FIG. 2b is a schematic view of one arrangement of the track of FIG. 1;

FIG. 2c is a schematic view of one arrangement of the track of FIG. 1;

FIG. 2d is a schematic view of one arrangement of the track of FIG. 1;

FIG. 2e is a schematic view of one arrangement of the track of FIG. 1;

FIG. 2f is a schematic view of one arrangement of the track of FIG. 1;

fig. 3 is a schematic structural diagram of a camera module in an embodiment;

FIG. 4 is a schematic flowchart illustrating an in-vehicle image acquisition method according to an embodiment;

FIG. 5 is a schematic flowchart of an in-vehicle image acquisition method according to another embodiment;

fig. 6 is a flowchart illustrating an in-vehicle image acquisition method according to still another embodiment.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein.

As described in the background of the present application, existing vehicle cameras are substantially fixed (e.g., fixedly integrated with an interior rearview mirror), plus a substantially unchangeable predetermined layout of the interior, such as a seat. Therefore, when the fixed camera is required to carry out in-vehicle camera shooting or photographing, certain visual or photographing blind areas often exist, and finally shot image information cannot meet set system requirements. Such as panoramic photography in the vehicle, full vehicle detection after leaving the vehicle and the like.

In view of the above, it is desirable to provide a new solution to solve the above-mentioned technical problems, and the specific structure thereof will be described in detail in the following embodiments.

According to a first aspect of the present application, as shown in fig. 1, a camera device is provided, which can be used to acquire image information of an interior of a vehicle (not shown). As shown in fig. 1, the camera device may include a rail 10 and a camera module 20.

Wherein the track 10 is arranged along a roof 30 of said vehicle; specifically, the roof 30 is an area where a vehicle sunroof is provided. Further, as shown in fig. 1, the track 10 may be laid in the middle, edge or other area of the ceiling 30, such as on the left or right compared to the center of the ceiling 30, which is not further limited in the present application.

And the camera module 20 is slidably mounted on the track 10, is configured to move along the track 20, and acquires image information of the interior of the vehicle in the moving process or in a static state. In this embodiment, the camera module 20 may be slidably connected to the track 10, that is, the camera module 20 may be controlled to move or stop along the track 10, and acquire image information of the interior of the vehicle during moving or when the vehicle is stationary.

In particular, the image information may be a photograph or a video. When the image information is a photo, the photo can be a single photo or a plurality of photos; a plurality of pictures can be obtained by shooting different positions in the vehicle by the camera module 20 in the moving process; the camera module 20 can also be used to photograph the interior of the vehicle at a plurality of stationary points.

When the image information is a video, the video may be a video shot while the camera module 20 is moving, or a video shot by the camera module at a stationary point. It is understood that the image information obtained by the present application may be selected and adjusted according to different actual requirements (e.g., vehicle departure detection, panoramic shooting, occupant status evaluation), which is not further limited by the present application.

Above-mentioned camera device arranges track 10 along the ceiling 30 of vehicle to slidable mounting camera module 20 on track 10 is right when moving or being static along track 10 through camera module 20 the inside image information of vehicle acquires, can solve the problem of fixed car interior camera shooting blind area, also can guarantee that the user looks over and the record to car interior article or condition when needs, and convenience of customers in time checks, improves user's use and experiences.

Further, with continuing reference to fig. 1 and with additional reference to fig. 2, the track 10 provided herein may include a primary track 110 and a secondary track 120, the primary track 110 and the secondary track 120 being in communication; so that the camera module 20 can move along the main rail 110 and the sub rail 120 without hindrance, and the main rail 110 is laid around the edge of the ceiling 30.

Specifically, all the rails of the main rail 110 may be connected to form a closed loop, or some of the rails may be connected to form a closed loop, but have a certain opening. However, it should be understood that all of the primary tracks 110 in this embodiment should ultimately enclose a space so that the secondary tracks 120 are disposed in the space. When all the tracks of the main track 110 are connected to form a closed loop, the main track 110a of the closed loop may be circular or square (e.g., rectangular, square).

In other embodiments, the main rail 110 may not be in a ring shape, and the secondary rail 120 may not be disposed in the space surrounded by the main rail 110, but may be in a dispersed shape (similar to a branch and a trunk), which is not limited in this application, and those skilled in the art can select and adjust the shape according to actual requirements.

Based on the installation mode of the secondary rail 120 when the primary rail 110 is annularly installed. With continued reference to fig. 1, the footprint of the main track 110 of the present application may be between the a-and B-pillars or B-and C-pillars or a-and C-pillars of the vehicle. By the above-mentioned laying method, the camera module 20 can move between the a-pillar, the B-pillar and the C-pillar of the vehicle via the main rail 110.

In other embodiments, reference may be made to fig. 2a to fig. 2f for additional schematic illustrations of the arrangement of the track 10 provided in the present application. It should be noted that: the main rails 110 in fig. 2 a-2 f are all in the shape of rounded rectangles, the laying area of the main rails 110 is between the a-pillar and the C-pillar of the vehicle, and the main rails 110 are located in the area enclosed by the ceiling 30, and the geometric center of the main rails coincides with the ceiling 30 of the vehicle. It should be understood that the foregoing description should not be read as limiting the present disclosure.

Reference is first made to fig. 2a, which shows a track having the same construction as the track of fig. 1. Specifically, the main track 110a is a rounded rectangle, and the sub-track 120a mainly includes a straight track, and the straight track is disposed along a direction perpendicular to the length direction of the vehicle, and may be perpendicular to or parallel to a partial track of the main track 110 a. In the present embodiment, the sub-track 120a is perpendicular to the long side of the main track 110a and parallel to the short side. As shown in fig. 2f, the situation where the secondary track 120a is perpendicular to the short side of the primary track 110a is not further described in this application. By the arrangement, all areas in the vehicle can be basically covered, and dead-angle-free shooting is realized.

In other embodiments, reference may be made to FIGS. 2b-2 e. The sub-rail 120 may include at least two linear rails, and the linear rails are parallel to or intersect each other. As shown in fig. 2b, when the sub-track 120 includes two linear tracks, the two linear tracks are parallel to each other. As shown in fig. 2c, when the secondary rail 120 includes two linear rails, the two linear rails intersect and the two linear rails coincide with two diagonal lines of the primary rail 110. Fig. 2d shows a case where the sub-track 120 includes three linear tracks, and the three linear tracks intersect and are arranged in a shape of a Chinese character 'mi'. Fig. 2e shows a case where the sub-track 120 includes two linear tracks and one circular track, and the two linear tracks and the one circular track are arranged in a "middle" shape. It can be understood that the present application has many variations on this basis, and further details of this application are not described herein.

In other embodiments, referring to fig. 3, the camera module 20 may include a transmission assembly 210 and a camera 220; the transmission assembly 210 is connected with the camera 220; the camera is slidably connected to the rail 10 through the transmission assembly 110. Further, the transmission assembly 210 may include a driving member (not shown) and a slider (not shown), the driving member is used for providing a driving force to the slider, one end of the slider is mechanically connected to the camera 220, and the other end of the slider is slidably connected to the track 10. It is understood that the transmission assembly 210 can be selected and adjusted by those skilled in the art according to actual needs, which is not the focus of the present application, and the detailed description thereof is omitted.

Further, the camera 220 of the present application may be a universal camera. The camera that can carry out 360 rotatory shootings promptly, can understand, can refer to prior art to this universal camera and understand, and the skilled person in the art can select and adjust according to actual need, and this is not the focus of this application, and this application is not being repeated here.

According to a second aspect of the present invention, there is also provided a vehicle equipped with a camera device as described above; the camera device is electrically connected with an electronic control unit of the vehicle, specifically, the electronic control unit of the vehicle is electrically connected with a control unit of the universal camera. That is, the camera apparatus of the present embodiment may be controlled by an Electronic Control Unit (ECU) of the vehicle. Further, the power source of the vehicle may include any one of fuel, electric power, or hydrogen power.

The vehicle is provided with the camera device, the track is arranged on the ceiling of the vehicle by the camera device, the camera module is arranged on the track, and the image information in the vehicle is acquired by the camera module in the process of moving along the track or in the static state, so that the problem of dead zone shooting by the fixed camera in the vehicle can be solved, the condition or articles in the vehicle can be checked and recorded by a user when needed, the user can check and record the condition or articles in the vehicle conveniently, and the use experience of the user is improved.

According to a third aspect of the present invention, with reference to fig. 4, the present application further provides an in-vehicle image obtaining method, which can be executed by the electronic control unit according to the embodiment. Based on the camera device of any one of the preceding claims, the method may include steps S110-S120.

In step S110, an image capturing command is received.

And step S120, responding to the image acquisition instruction to control the camera module to acquire the image information of the interior of the vehicle.

Specifically, the image acquisition instruction of the present application may be input by a user through a vehicle-mounted large screen of the vehicle or through a mobile terminal connected to the vehicle.

Further, when the user inputs an image acquisition instruction through the vehicle-mounted large screen of the vehicle, the user may first call an application program capable of controlling the camera device on the vehicle-mounted large screen, and after the call, two areas (not shown) may appear on the vehicle-mounted large screen, where the first area includes up, down, left, and right direction keys and a touch area that can be used to manually drag the camera, and the second area is a camera photographing or photographing determination area. The first area can be used for adjusting the camera device, in particular adjusting the position and the angle of the universal camera. The second region is primarily for enabling a universal camera.

Further, when the user inputs an image acquisition instruction by operating a mobile terminal connected with the vehicle, the in-vehicle APP can be downloaded in advance from the mobile terminal of the user, wherein the mobile terminal includes but is not limited to a smart wearable device, a smart phone, a tablet computer and a laptop computer. Besides the output image acquisition instruction, the vehicle APP can also adjust other performances and states of the vehicle, including but not limited to an air conditioner in the vehicle, an atmosphere lamp in the vehicle, music in the vehicle, a vehicle-mounted robot and the like. In order to realize that a user remotely controls a vehicle through the vehicle APP, the vehicle in the embodiment of the present application may be correspondingly configured with a TBOX (telematics Box), that is, a vehicle networking system. In order to realize mass storage of data, a corresponding cloud system can be configured for the vehicle. Based on this, when the user inputs the image acquisition instruction through the car APP on the mobile terminal, the signal transmission relationship between the modules is as follows: the vehicle APP transmits the image acquisition instruction to the cloud system, the cloud system transmits the image acquisition instruction to the TBOX, the TBOX wakes up the vehicle after receiving the image acquisition instruction, namely the TBOX transmits the image acquisition instruction to an electronic control unit of the vehicle, and the electronic control unit of the vehicle transmits a corresponding non-blind area shooting signal to a control unit of the camera so as to shoot at all positions.

In other embodiments, referring to fig. 5, before receiving an image capturing instruction, the in-vehicle image capturing method of the present application may further include steps S210 to S220:

step S210, receiving a camera module adjusting instruction; the camera module adjusting instruction is used for controlling the camera module to move and/or controlling the camera to rotate;

and step S220, responding to the camera module adjusting instruction to control the camera module to move or control the camera to rotate.

Specifically, the camera module adjusting instruction may also be triggered by a vehicle-mounted large screen of the vehicle or by a mobile terminal connected to the vehicle. The specific triggering mode and signal flow direction may be known by referring to the triggering mode and signal flow direction of the image acquisition instruction, which is not further described herein.

In this embodiment, the camera module adjustment instruction may include an instruction for controlling the camera module to move and an instruction for controlling the camera to rotate, and these instructions may be triggered by the user through the vehicle-mounted large screen of the vehicle or through the mobile terminal connected to the vehicle. Because the position of the camera module and the angle of the camera are adjusted before photographing, the finally photographed image information can meet the opportunity requirements of the user, and the use experience of the user is improved.

In other embodiments, referring to fig. 6, the in-vehicle image acquiring method of the present application may further include steps S310 to S320:

step S310, processing the acquired image information;

and step S320, displaying the processed image information to the user through the vehicle-mounted large screen or the mobile terminal.

Specifically, the processing for the acquired image information as a plurality of photographs includes stitching processing, which may be performed via an electronic control unit of the vehicle. According to the equipment for triggering the image acquisition instruction by the user, the image information spliced and processed by the electronic control unit can be correspondingly fed back to the equipment for display. For example, if the user is an image acquisition instruction triggered by a vehicle-mounted large screen, the image information after final splicing processing can be directly displayed on the vehicle-mounted large screen. The mobile terminal is also similar, and is not described herein again. It should be understood that, in the process, besides the forwarding of the instruction, the cloud system may also store the original image information and the processed image information, so that the user can retrieve the original image information and the processed image information when needed.

In summary, in order to facilitate understanding of the principle of the in-vehicle image acquisition method of the present application, the technical solution of the present application is described according to different triggering manners of the image acquisition instruction:

(1) Triggering a vehicle-mounted large screen:

the user calls out the application that can correspond control camera device on-vehicle large-size screen, then can be as required at first position and the shooting angle (output camera module regulation instruction) of operation control universal camera on-vehicle large-size screen, after having selected the position and the shooting angle of universal camera, electronic control unit will control the signal transmission of the position of universal camera and shooting angle to the control unit of universal camera, control universal camera by the control unit of universal camera moves to preset position, and adjust to corresponding angle.

When the position and the angle of the universal camera are stable, the information can be fed back to a user in a certain mode (sound, light and electricity), so that the user can know the condition. The user can continuously click on the vehicle-mounted large screen to operate to take a picture or pick up a video (output an image acquisition instruction), the electronic control unit transmits the image acquisition instruction to the control unit of the universal camera to take the picture, and the shot picture or image is transmitted back to the electronic control unit by the control unit of the universal camera and is displayed on the vehicle-mounted large screen.

The user can repeatedly execute the actions to adjust the position and the angle of the camera for shooting.

(2) Triggering by the mobile terminal:

the user clicks an operation image shooting button on a vehicle machine APP of the mobile terminal, the vehicle machine APP transmits a signal to the cloud system, the cloud system forwards an image acquisition instruction to a TBOX of a vehicle, the TBOX of the vehicle wakes up the vehicle after receiving the image acquisition instruction, the image acquisition instruction is sent to an electronic control unit ECU of the vehicle immediately, the electronic control unit ECU sends a shooting signal without a blind area to a control unit of the camera, and all-position shooting is carried out.

And a plurality of pictures after shooting are spliced by the electronic control unit ECU and are transmitted back to the TBOX of the vehicle, and then the pictures are returned to the cloud system by the TBOX of the vehicle, and the cloud system compresses the processed image information and transmits the processed image information back to the vehicle APP for the user to look up.

The user can also repeatedly execute the actions to adjust the position and the angle of the camera for shooting.

According to a fourth aspect of the present invention, there is provided a computer readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any of the above-mentioned embodiments of the present invention.

Alternatively, the computer-readable storage medium may include a Volatile Memory (English) such as a Random-Access Memory (RAM), a Static Random-Access Memory (SRAM), a Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), etc.; the Memory may also comprise a Non-Volatile Memory, such as a Flash Memory. The memories are used to store computer programs (e.g., applications, functional modules, etc. that implement the above-described methods), computer instructions, etc., which may be stored in partition in the memory or memories. And the computer programs, computer instructions, data, etc. described above may be invoked by a processor.

The computer programs, computer instructions, etc. described above may be stored in partitions in one or more memories. And the computer programs, computer instructions, data, etc. described above may be invoked by a processor.

A processor for executing the computer program stored in the memory to implement the steps of the method according to the above embodiments. Reference may be made in particular to the description relating to the previous method embodiments.

The processor and the memory may be separate structures or may be an integrated structure integrated together. When the processor and the memory are separate structures, the memory and the processor may be coupled by a bus.

The computer-readable storage medium may be configured to perform the in-vehicle image acquisition method described in any one of the foregoing embodiments when the computer program stored thereon is executed by the processor. The in-vehicle image acquisition method is mainly based on the camera device, the camera device is provided with a track along the ceiling of the vehicle, the camera module is arranged on the track, and after receiving an image acquisition instruction, the camera device can acquire image information in the vehicle in the moving process or the static process along the track so as to solve the problem of dead zone shooting of the fixed in-vehicle camera and ensure that a user can check and record articles or conditions in the vehicle as required, thereby facilitating the timely check of the user and improving the use experience of the user.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. Where the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.

Claims

1. A camera device for acquiring image information of an interior of a vehicle, comprising:

a rail laid on a ceiling of the vehicle; and

The camera module is arranged on the track in a sliding mode and is configured to acquire image information of the interior of the vehicle when moving or being still along the track.

2. The camera device of claim 1, wherein the track comprises a primary track and a secondary track, the primary track and the secondary track being in communication, and the secondary track being disposed within a space enclosed by the primary track, the primary track being laid around an edge of the ceiling.

3. The camera device of claim 2, wherein the secondary track comprises a linear track, and the linear track is disposed perpendicular to a length direction of the vehicle.

4. The camera device of claim 2, wherein the sub-track comprises at least two linear tracks, and the linear tracks are parallel or intersect with each other.

5. A vehicle, characterized in that the vehicle is equipped with a camera device according to any one of claims 1-6; the camera device is electrically connected with an electronic control unit of the vehicle.

6. An in-vehicle image acquisition method based on the camera device according to any one of claims 1 to 6, the method comprising:

Receiving an image acquisition instruction; and

and responding to the image acquisition instruction to control the camera module to acquire the image information of the interior of the vehicle.

7. The in-vehicle image capturing method according to claim 6, further comprising, before the receiving an image capturing instruction:

and responding to the camera module adjusting instruction to control the camera module to move or control the camera to rotate.

8. The in-vehicle image acquisition method according to claim 6, wherein the image acquisition instruction is input via a user through an in-vehicle large screen of the vehicle or through a mobile terminal connected to the vehicle.

9. The in-vehicle image acquisition method according to claim 8, further comprising:

processing the acquired image information;

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, is adapted to carry out the method of any one of claims 6 to 9.