JP2018107620A - Imaging system, movable body, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve convenience of a technology to combine a plurality of images picked up by a plurality of imaging devices.SOLUTION: An imaging system 10 comprises a plurality of imaging devices 20 and a processor 32. The plurality of imaging devices 20 are each arranged to have an imaging area overlapped with that of at least one of the other imaging devices 20, and can execute exposure adjustment or white balance adjustment by using control information input from the processor 32. The processor 32 determines a piece of control information. The exposure or white balance of the plurality of respective imaging devices 20 is executed by using the piece of control information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an imaging system, a moving body, and a control method.

  2. Description of the Related Art Conventionally, a technique for combining a plurality of captured images by a plurality of imaging devices mounted on a moving body such as a vehicle is known. For example, Patent Document 1 discloses a technique for displaying, on a display device, a bird's-eye view of a vehicle periphery that has been subjected to viewpoint conversion based on images captured by a plurality of cameras installed in the vehicle.

JP 2010-283718 A

  Improvement of the convenience of a technique for combining a plurality of captured images by a plurality of imaging devices is desired.

  The present disclosure relates to an imaging system, a moving body, and a control method that improve convenience of a technique for combining a plurality of captured images obtained by a plurality of imaging devices.

  An image system according to an embodiment of the present disclosure includes a plurality of imaging devices and a processor. Each of the plurality of imaging devices is arranged so that an imaging region overlaps with at least one other imaging device, and can perform exposure adjustment or white balance adjustment using control information input from the processor. . The processor determines one piece of control information. The exposure or white balance of each of the plurality of imaging devices is executed using the one control information.

  A moving object according to an embodiment of the present disclosure includes a plurality of imaging devices and a processor. Each of the plurality of imaging devices is arranged so that an imaging region overlaps with at least one other imaging device, and can perform exposure adjustment or white balance adjustment using control information input from the processor. . The processor determines one piece of control information. The exposure or white balance of each of the plurality of imaging devices is executed using the one control information.

  A control method according to an embodiment of the present disclosure is a control method of an imaging system including a plurality of imaging devices and a processor. Each of the plurality of imaging devices is arranged so that an imaging region overlaps with at least one other imaging device, and can perform exposure adjustment or white balance adjustment using control information input from the processor. . The processor determines one piece of control information. The exposure or white balance of each of the plurality of imaging devices is executed using the one control information.

  According to the imaging system, the moving body, and the control method according to an embodiment of the present disclosure, the convenience of a technique for combining a plurality of captured images by a plurality of imaging devices is improved.

1 is a block diagram illustrating a schematic configuration of an imaging system according to a first embodiment of the present disclosure. It is a figure which shows arrangement | positioning of the several imaging device in a moving body. It is a figure which shows the imaging area | region of each of several imaging device. It is a flowchart which shows the 1st operation | movement of information processing apparatus. It is a block diagram showing a schematic structure of an imaging system concerning a 2nd embodiment of this indication. It is a flowchart which shows the 2nd operation | movement of information processing apparatus.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(First embodiment)
With reference to FIG. 1, an imaging system 10 according to a first embodiment of the present disclosure will be described. The imaging system 10 includes a plurality of imaging devices 20, an information processing device 30, and a display device 40. The imaging system 10 is provided in a moving body.

  The “mobile body” in the present disclosure may include, for example, a vehicle, a ship, an aircraft, and the like. The vehicle may include, for example, an automobile, an industrial vehicle, a railway vehicle, a living vehicle, a fixed wing aircraft that runs on a runway, and the like. Automobiles may include, for example, passenger cars, trucks, buses, motorcycles, trolley buses, and the like. Industrial vehicles may include, for example, industrial vehicles for agriculture and construction. Industrial vehicles may include, for example, forklifts and golf carts. Industrial vehicles for agriculture may include, for example, tractors, cultivators, transplanters, binders, combiners, lawn mowers, and the like. Industrial vehicles for construction may include, for example, bulldozers, scrapers, excavators, crane trucks, dump trucks, road rollers, and the like. The vehicle may include a vehicle that travels manually. The classification of the vehicle is not limited to the example described above. For example, an automobile may include an industrial vehicle capable of traveling on a road. The same vehicle may be included in multiple classifications. Ships may include, for example, marine jets, boats, tankers, and the like. Aircraft may include, for example, fixed wing aircraft and rotary wing aircraft.

  The plurality of imaging devices 20, the information processing device 30, and the display device 40 are communicably connected via a network. The network may include one or more arbitrary communication paths such as wireless, wired, and CAN (Controller Area Network).

  In other embodiments, some or all of the components of the imaging system 10 may be integrally configured as a single device. For example, a configuration in which a part or all of the configuration or function of the information processing device 30 is included in one imaging device 20 can be considered.

  The number of the imaging devices 20 provided in the imaging system 10 may be arbitrarily determined. For example, the imaging system 10 includes four imaging devices 20. Hereinafter, the four imaging devices 20 are distinguished from each other and are also referred to as a front camera 20a, a rear camera 20b, a left side camera 20c, and a right side camera 20d.

  With reference to FIG. 2, the arrangement of the imaging devices 20 in the moving body 50 will be described. Each imaging device 20 may be arranged at an arbitrary position on the moving body 50 so that the imaging region overlaps with at least one other imaging device 20. Details of the imaging area of each imaging device 20 will be described later. For example, in the example illustrated in FIG. 2, the front camera 20 a is disposed so as to be able to image the front of the moving body 50. The rear camera 20b is arranged so that the rear side of the moving body 50 can be imaged. The left side camera 20c is arranged so that the left side of the moving body 50 can be imaged. The right side camera 20d is arranged so that the right side of the moving body 50 can be imaged. The left side camera 20c and the right side camera 20d may be arranged vertically downward in the left and right side mirrors of the moving body 50, for example.

  The imaging area of each imaging device 20 will be described. Each imaging device 20 can image a subject in the imaging region. Each imaging device 20 may include a lens with a wide angle of view, such as a fisheye lens. For example, in the example shown in FIG. 3, the imaging area of the front camera 20a includes a front area FA, a left front area FLA, and a right front area FRA of the moving body 50. The imaging area of the rear camera 20b includes a rear area ReA, a left rear area ReLA, and a right rear area ReRA of the moving body 50. The imaging area of the left side camera 20c includes a left side area LA, a left front area FLA, and a left rear area ReLA of the moving body 50. The imaging area of the right side camera 20d includes a right side area RA, a right front area FRA, and a right rear area ReRA of the moving body 50.

  In the example illustrated in FIG. 3, the imaging regions of the imaging devices 20 overlap each other around the four corners of the moving body 50. Specifically, the imaging area of the front camera 20a and the imaging area of the left side camera 20c overlap in the left front area FLA. The imaging area of the front camera 20a and the imaging area of the right side camera 20d overlap in the right front area FRA. The imaging area of the rear camera 20b and the imaging area of the left side camera 20c overlap in the left rear area ReLA. The imaging area of the rear camera 20b and the imaging area of the right side camera 20d overlap in the right rear area ReRA.

  With reference to FIG. 1, each component of the imaging system 10 is demonstrated in detail.

(Imaging device)
The imaging device 20 includes an imaging optical system 21, an imaging element 22, a communication unit 23, and a control unit 24.

  The imaging optical system 21 forms a subject image. For example, the imaging optical system 21 may include a diaphragm and one or more lenses. The at least one lens included in the imaging optical system 21 may be a wide-angle lens having a relatively wide angle of view.

  The image sensor 22 has a plurality of pixels arranged two-dimensionally. The image sensor 22 may include, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image sensor 22 can capture a subject image formed by the imaging optical system 21 and generate a captured image. The image sensor 22 can continuously image a subject at a desired frame rate, for example. Hereinafter, continuous imaging by the imaging element 22 is also referred to as continuous imaging.

  The communication unit 23 includes a communication interface capable of communicating with an external device. The communication unit 23 may be capable of transmitting and receiving information via a network. The external device may include an information processing device 30, for example. The “communication interface” in the present disclosure may include, for example, a physical connector and a wireless communication device. The physical connector may include an electrical connector that supports transmission using an electrical signal, an optical connector that supports transmission using an optical signal, and an electromagnetic connector that supports transmission using electromagnetic waves. The electrical connector includes a connector conforming to IEC 60603, a connector conforming to the USB standard, a connector corresponding to the RCA terminal, a connector corresponding to the S terminal defined in EIAJ CP-1211A, and a D terminal defined in EIAJ RC-5237. A connector corresponding to a coaxial cable including a corresponding connector, a connector conforming to the HDMI (registered trademark) standard, and a BNC (British Naval Connector or Baby-series N Connector) may be included. The optical connector may include various connectors that conform to IEC 61754. The wireless communication device may include a wireless communication device that conforms to standards including Bluetooth (registered trademark) and IEEE802.11. The wireless communication device includes at least one antenna.

  The control unit 24 includes one or more processors. The “processor” in the present disclosure may include a dedicated processor specialized for a specific process and a general-purpose processor that executes a specific function by reading a specific program. The dedicated processor may include a DSP (Digital Signal Processor) and an application specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include an FPGA (Field-Programmable Gate Array). The control unit 24 may be one of SoC (System-on-a-Chip) and SiP (System In a Package) in which one or more processors cooperate.

  The control unit 24 controls the overall operation of the imaging device 20. The control unit 24 may cause the image sensor 22 to perform continuous imaging at an arbitrary frame rate. The control unit 24 may synchronize the imaging timing of the own apparatus with the imaging timing of the other imaging apparatus 20.

  The control unit 24 may be able to execute at least one of exposure adjustment and white balance adjustment using control information input from the information processing apparatus 30 as described later. Hereinafter, the control information input to the imaging device 20 is also referred to as common control information. The control information used for exposure adjustment may include, for example, a parameter indicating the length of the charge accumulation period of the image sensor 22. The control unit 24 adjusts the exposure by determining the value of the parameter as the length of the charge accumulation period of the image sensor 22. The control information used for white balance adjustment may include, for example, a parameter indicating the color temperature. The control unit 24 adjusts the white balance based on the color temperature indicated in the control information.

  The control unit 24 may execute at least one of automatic exposure control and automatic white balance control instead of the exposure adjustment and the white balance adjustment using the common control information described above. The control unit 24 may output control information obtained by executing automatic exposure control and automatic white balance control to the information processing apparatus 30. As will be described later, the control unit 24 performs a first mode in which the exposure adjustment and the white balance adjustment using the common control information described above are performed in response to an instruction from the information processing device 30, and automatic exposure control and automatic white balance control. The second mode to be executed may be switched.

  The control unit 24 may perform predetermined image processing on the generated captured image. The image processing may include, for example, distortion correction processing and viewpoint conversion processing. By distortion correction processing, for example, distortion of a captured image taken at a wide angle is reduced. By the viewpoint conversion process, the captured image is converted into, for example, an overhead image in which the imaging region of the imaging device 20 is viewed from above the moving body 50.

  The control unit 24 may output the generated captured image to the information processing device 30 via the communication unit 23.

(Information processing device)
The information processing apparatus 30 includes a communication unit 31 and a control unit 32.

  The communication unit 31 may include a communication interface that can communicate with an external device. The external device includes, for example, the imaging device 20, an ECU (Electronic Control Unit or Engine Control unit) provided in the moving body 50, a speed sensor, an acceleration sensor, a rotation angle sensor, a steering rudder angle sensor, an engine rotation speed sensor, an accelerator sensor, Brake sensor, colorimetric sensor, illuminance sensor, raindrop sensor, mileage sensor, millimeter wave radar, obstacle detection device using ultrasonic sonar, ETC (Electronic Toll Collection System) receiver, GPS (Global Positioning System) device , Navigation devices, servers on the Internet, mobile phones and the like.

  The communication unit 31 can acquire various information from an external device. For example, the communication unit 31 acquires a captured image from the imaging device 20. The communication unit 31 acquires information regarding the moving object 50 from an external device. Hereinafter, the information regarding the moving body 50 is also referred to as moving body information.

  The mobile object information may include arbitrary information regarding the mobile object 50. The moving body information includes, for example, the speed, acceleration, turning gravity, inclination, direction, and turning state of the moving body 50, the steering wheel steering angle, the cooling water temperature, the remaining amount of fuel, the remaining amount of the battery, the voltage of the battery, Engine speed, engine operating status, gear position, presence / absence of reverse signal, presence / absence of accelerator operation, accelerator opening, presence / absence of brake operation, brake depression, parking brake activation, front / rear wheel or four-wheel speed difference , Tire pressure, damper expansion / contraction, driver's eye space position, number of occupants and seat position, seat belt mounting information, door opening / closing, window opening / closing, interior temperature, air conditioning operation status, air conditioning set temperature , Airflow of air conditioning, setting of outside air circulation, wiper operating status, driving mode, connection information with external equipment, current time, average fuel consumption, instantaneous fuel consumption, lighting status of various lamps , Location information of the vehicle 50, and may include routing information, etc. to a destination of the vehicle 50. The various lamps may include, for example, a head lamp, a fog lamp, a back lamp, a position lamp, and a turn signal.

  The control unit 32 includes one or more processors. The control unit 32 controls the overall operation of the information processing apparatus 30. This will be specifically described below.

  The control unit 32 acquires mobile body information from the external device via the communication unit 31. The control unit 32 detects the state of the moving body 50 based on the moving body information. The state of the moving body 50 may include, for example, the forward and backward states of the moving body 50 and the lighting states of various lamps mounted on the moving body 50. For example, the control unit 32 may detect the forward state and the reverse state based on a gear position included in the moving body information.

  The control unit 32 selects one imaging device 20 based on the detected state of the moving body 50 from among the plurality of imaging devices 20. As will be described later, the selected one imaging device 20 operates in the second mode in which automatic exposure control and automatic white balance control are performed. An arbitrary algorithm based on the state of the moving body 50 can be used to select one imaging device 20. Of the various algorithms that can be employed, three specific examples will be described.

  According to the first example of the algorithm, the control unit 32 may select one imaging device 20 that includes the traveling direction of the moving body 50 in the imaging region from among the plurality of imaging devices 20. For example, the control unit 32 determines whether or not the moving body 50 is moving backward based on the moving body information. When it is determined that the moving body 50 is moving backward, the control unit 32 selects a rear camera 20b that includes the rear area ReA of the moving body 50 illustrated in FIG. . When it is determined that the moving body 50 is moving forward or the moving speed is zero, the control unit 32 includes the front camera 20a including the front area FA of the moving body 50 among the plurality of imaging devices 20 in the imaging area. Select.

  According to the second example of the algorithm, the control unit 32 excludes the imaging device 20 that includes the irradiation direction of the light of the lighting lamp from the plurality of imaging devices 20 in the imaging region. You may choose. The control unit 32 may preferentially select one imaging device 20 that includes, in the imaging region, the irradiation direction of the light of the lit lamp among the plurality of imaging devices 20. The control unit 32 may preferentially select the imaging device 20 having a high probability of being able to be adjusted to an appropriate image quality characteristic by automatic exposure control and automatic white balance control. As described above, when the left side camera 20c and the right side camera 20d are provided vertically downward in the moving body 50, it is highly likely that most of the imaging regions of the left side camera 20c and the right side camera 20d occupy the road surface. For this reason, compared with the left side camera 20c and the right side camera 20d, the front camera 20a and the rear camera 20b are more likely to be adjusted to appropriate image quality characteristics by automatic exposure control and automatic white balance control. The control unit 32 may preferentially select the front camera 20a or the rear camera 20b over the left side camera 20c or the right side camera 20d. For example, the control unit 32 determines whether each of the headlamp and the back lamp is lit. When it is determined that the headlamp is turned on, the control unit 32 gives priority to the rear camera 20b except for the front camera 20a including the front area FA of the moving body 50 in the imaging area among the plurality of imaging devices 20. To choose. When it is determined that the back lamp is lit, the control unit 32 gives priority to the front camera 20a except for the rear camera 20b including the rear area ReA of the moving body 50 in the imaging area among the plurality of imaging apparatuses 20. To choose.

  According to the third example of the algorithm, the control unit 32 preferentially selects one imaging device 20 including, in the imaging region, the irradiation direction of the light of the lit lamp from the plurality of imaging devices 20. Good. The control unit 32 may preferentially select the imaging device 20 having a high probability of being able to be adjusted to an appropriate image quality characteristic by automatic exposure control and automatic white balance control. For example, the control unit 32 determines whether each of the headlamp and the back lamp is lit. When it is determined that the headlamp is lit, the control unit 32 preferentially selects the front camera 20a including the front area FA of the moving body 50 in the imaging area from among the plurality of imaging apparatuses 20. When it is determined that the back lamp is lit, the control unit 32 preferentially selects the rear camera 20b including the rear region ReA of the moving body 50 in the imaging region from among the plurality of imaging devices 20.

  The control unit 32 causes the selected imaging device 20 to operate in the second mode in which automatic exposure control and automatic white balance control are executed. The control unit 32 causes the imaging devices 20 other than the selected one imaging device 20 to operate in the first mode in which exposure adjustment and white balance adjustment are performed using the common control information. The control unit 32 acquires control information obtained by execution of automatic exposure control and automatic white balance control by the imaging device 20 operated in the second mode from the imaging device 20. The control unit 32 determines the acquired control information as common control information. The control unit 32 outputs the common control information to each imaging device 20 operated in the first mode.

  The control unit 32 acquires a plurality of captured images from the plurality of imaging devices 20. The plurality of captured images are a set of captured images captured at substantially the same imaging timing. The control unit 32 combines a plurality of captured images to generate a combined image. The combined image may be an overhead image obtained by bird's-eye view of the entire surrounding area of the moving object 50. The control unit 32 outputs the combined image to the display device 40. The control unit 32 may output the combined image at an arbitrary frame rate. For example, the control unit 32 outputs a combined image at the same frame rate as that of each imaging device 20.

(Display device)
The display device 40 may include, for example, a liquid crystal display and an organic EL (Electroluminescence) display. The arrangement of the display device 40 in the moving body 50 may be arbitrarily determined so that the target person can visually recognize. The display device 40 displays the combined image input from the information processing device 30.

  According to this configuration, exposure and white balance are adjusted using common control information in each of the plurality of imaging devices 20. The uniformity of image quality characteristics in a plurality of captured images respectively generated by the plurality of imaging devices 20 is improved. The visibility of the combined image displayed on the display device 40 is improved. Therefore, the convenience of a technique for combining a plurality of captured images by a plurality of imaging devices is improved.

  The operation of the information processing apparatus 30 will be described with reference to FIG.

  Step S <b> 100: The control unit 32 acquires mobile body information from an external device via the communication unit 31.

  Step S101: The control unit 32 selects one imaging device 20 based on the state of the moving body 50 detected based on the moving body information. For example, the control unit 32 may determine whether or not the moving body 50 is in the reverse movement state based on the moving body information. If it is determined that the vehicle is in the reverse state (step S101—Yes), the process proceeds to step S102. If it is determined that the vehicle is not in the reverse state (step S101—No), the process proceeds to step S103.

  Step S102: The control unit 32 operates the rear camera 20b including the rear area ReA of the moving body 50 in the imaging area in the second mode. The control unit 32 acquires control information from the rear camera 20b via the communication unit 31.

  Step S103: The control unit 32 operates the front camera 20a including the front area FA of the moving body 50 in the imaging area in the second mode. The control unit 32 acquires control information from the front camera 20a via the communication unit 31.

  Step S104: The control unit 32 determines one piece of control information acquired in step S102 or step S103 as common control information.

  Step S105: The control unit 32 causes each of the imaging devices 20 other than the imaging device 20 that has been operated in the second mode in Step S102 or Step S103 to operate in the first mode. The control unit 32 outputs the common control information to each imaging device 20 operated in the first mode. The process returns to step S100.

  As described above, in the imaging system 10 according to the first embodiment of the present disclosure, the control unit 32 determines one piece of common control information. The exposure or white balance of the plurality of imaging devices 20 is executed using the common control information. According to this configuration, the uniformity of image quality characteristics in a plurality of captured images respectively generated by the plurality of imaging devices 20 is improved. The visibility of the combined image displayed on the display device 40 is improved. Therefore, the convenience of a technique for combining a plurality of captured images by a plurality of imaging devices is improved.

(Second Embodiment)
With reference to FIG. 5, the imaging system 100 according to the second embodiment of the present disclosure will be described. As an outline, the second embodiment is different from the first embodiment in that one piece of common control information is determined based on information related to external light detected by a sensor. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The imaging system 100 includes a plurality of imaging devices 20, an information processing device 30, a display device 40, and a colorimetric sensor 60.

  The colorimetric sensor 60 may be an incident light sensor, for example. The arrangement of the colorimetric sensor 60 in the moving body 50 may be arbitrarily determined so that external light is incident on the light receiving unit of the sensor. For example, the colorimetric sensor 60 may be disposed in the dashboard of the moving body 50. The incident light type sensor is unlikely to be affected by the color of the subject and the reflectance unlike the reflected light type sensor, for example. The colorimetric sensor 60 may function as an illuminance sensor, for example. The colorimetric sensor 60 detects information related to outside light. The information regarding external light may include arbitrary information that is determined according to external light. For example, the information regarding external light includes at least one of the intensity of external light and the color temperature.

  The control unit 32 of the information processing device 30 operates each imaging device 20 in the first mode. Alternatively, each imaging device 20 according to the second embodiment may be operable only in the first mode. The control unit 32 acquires information related to external light from the colorimetric sensor 60 via the communication unit 31. The control unit 32 determines one piece of common control information based on information regarding external light. For the determination of the common control information, any algorithm using information related to external light can be employed. The control unit 32 outputs the common control information to each imaging device 20.

  The operation of the information processing apparatus 30 will be described with reference to FIG.

  Step S <b> 200: The control unit 32 acquires information about external light from the colorimetric sensor 60 via the communication unit 31.

  Step S201: The control part 32 determines one common control information based on the information regarding external light.

  Step S202: The control unit 32 transmits common control information to each imaging device 20.

  As described above, in the imaging system 100 according to the second embodiment of the present disclosure, the control unit 32 determines one piece of common control information based on information regarding external light acquired from the colorimetric sensor 60. According to such a configuration, the visibility of the combined image displayed on the display device 40 is improved, similar to the first embodiment described above. Therefore, the convenience of a technique for combining a plurality of captured images by a plurality of imaging devices is improved.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, functions and the like included in each means and each step can be rearranged so as not to be logically contradictory, and a plurality of means and steps can be combined into one or divided. .

  For example, the configuration and function of the imaging system 10 according to the above-described embodiment may be rearranged. For example, a part or all of the configuration or function of the information processing device 30 may be included in the imaging device 20, the display device 40, or other additional devices. For example, a configuration in which a function for generating a combined image is included in a device different from the information processing device 30 can be considered.

  Some of the components of the imaging system 10 according to the above-described embodiment may be located outside the moving body 50. For example, the information processing apparatus 30 may be realized as a communication device such as a mobile phone or an external server, and may be connected to other components of the imaging system 10 by wire or wireless.

10, 100 Imaging system 20 Imaging device 20a Front camera 20b Rear camera 20c Left side camera 20d Right side camera 21 Imaging optical system 22 Imaging element 23 Communication unit 24 Control unit 30 Information processing device 31 Communication unit 32 Control unit 40 Display device 50 Body 60 Colorimetric sensor FA Front area FLA Left front area FRA Right front area LA Left side area RA Right side area ReA Rear area ReLA Left rear area ReRA Right rear area

Claims (9)

An imaging system comprising a plurality of imaging devices and a processor,
Each of the plurality of imaging devices
It is arranged so that the imaging area overlaps with at least one other imaging device,
Exposure adjustment or white balance adjustment can be executed using control information input from the processor,
The processor determines one piece of control information;
An imaging system in which exposure or white balance of each of the plurality of imaging devices is executed using the one control information. The imaging system according to claim 1,
The imaging system, wherein the processor combines and outputs a plurality of captured images respectively generated by the plurality of imaging devices. The imaging system according to claim 1 or 2,
The processor is
Get information about external light from sensors,
The imaging system which determines said one control information based on the said information regarding external light. The imaging system according to claim 1 or 2,
Each of the plurality of imaging devices can execute automatic exposure control or automatic white balance control,
The processor selects any one of the plurality of imaging devices,
The selected one imaging device executes automatic exposure control or automatic white balance control instead of exposure adjustment or white balance adjustment,
The imaging system, wherein the processor determines control information obtained by execution of automatic exposure control or automatic white balance control by the selected one imaging device as the one control information. The imaging system according to claim 4,
The plurality of imaging devices and the processor are provided in a moving body,
The processor is
Detecting the state of the moving body based on information about the moving body;
An imaging system that selects the one imaging device from the plurality of imaging devices based on a state of the moving body. The imaging system according to claim 5,
The state of the mobile body includes at least one of a forward state and a reverse state of the mobile body, and a lighting state of a lamp mounted on the mobile body. The imaging system according to claim 6,
The state of the mobile body includes a forward state and a reverse state of the mobile body,
The imaging system, wherein the processor selects, from among the plurality of imaging devices, the one imaging device that includes an advancing direction of the moving body in an imaging region. A moving body comprising a plurality of imaging devices and a processor,
Each of the plurality of imaging devices
It is arranged so that the imaging area overlaps with at least one other imaging device,
Exposure adjustment or white balance adjustment can be executed using control information input from the processor,
The processor determines one piece of control information;
A moving body in which exposure or white balance of each of the plurality of imaging devices is executed using the one control information. An imaging system control method comprising a plurality of imaging devices and a processor,
Each of the plurality of imaging devices
It is arranged so that the imaging area overlaps with at least one other imaging device,
Exposure adjustment or white balance adjustment can be executed using control information input from the processor,
The processor determines one piece of control information;
A control method in which exposure or white balance of each of the plurality of imaging devices is executed using the one control information.

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