WO2020103495A1 - 曝光时长调整方法、装置、电子设备及存储介质 - Google Patents
曝光时长调整方法、装置、电子设备及存储介质Info
- Publication number
- WO2020103495A1 WO2020103495A1 PCT/CN2019/099209 CN2019099209W WO2020103495A1 WO 2020103495 A1 WO2020103495 A1 WO 2020103495A1 CN 2019099209 W CN2019099209 W CN 2019099209W WO 2020103495 A1 WO2020103495 A1 WO 2020103495A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- exposure duration
- maximum allowable
- brightness gain
- image acquisition
- acquisition device
- Prior art date
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
Definitions
- the present application relates to the field of computer technology, and more specifically, to a method, device, electronic device, and storage medium for adjusting exposure time.
- robots have been widely used in all walks of life.
- they often need to use cameras to sense road conditions, such as sensing vehicles, pedestrians, and various obstacles on the road.
- Road conditions to adjust the movement status to avoid accidents such as car accidents.
- the robot can use the camera to take a picture including the road, and then identify all objects located in the road in the picture, and then analyze the road condition according to the recognized object.
- Embodiments of the present application provide a method, device, electronic device, and storage medium for adjusting exposure time.
- a method for adjusting exposure duration including:
- the image acquisition device Determining the maximum allowable exposure duration of the image acquisition device according to the current movement speed, the image acquisition device is provided on the movable device;
- the first exposure duration is updated.
- an exposure duration adjustment device including:
- the first determining module is used to determine the current moving speed of the movable device
- a third determining module configured to determine the first exposure duration of the image acquisition device
- the first updating module is configured to update the first exposure duration based on the first exposure duration and the maximum allowable exposure duration.
- an electronic device including: a processor; a memory; and computer program instructions stored in the memory, the computer program instructions, when executed by the processor, cause the The processor executes the aforementioned exposure time adjustment method.
- a computer program product including computer program instructions, which when executed by a processor causes the processor to perform the above-mentioned exposure time adjustment method.
- a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions, when executed by a processor, cause the processor to perform the above-mentioned exposure time adjustment method.
- the current moving speed of the movable device can be determined, and the maximum allowable exposure time of the image acquisition device can be determined according to the current moving speed.
- the first exposure time of the image acquisition device is greater than the maximum allowable exposure time, it can be based on the An exposure duration and the maximum allowable exposure duration, update the first exposure duration to reduce the exposure duration of the image acquisition device, and then make the movable device move at the current movement speed, the image acquisition device set on the movable device is captured
- the picture can meet the requirements of clarity, and then can identify all objects located on the road, and can accurately analyze the road condition, and then adjust the movement status according to the road condition to avoid accidents such as car accidents.
- FIG. 1 shows a flowchart of a method for adjusting exposure duration according to an embodiment of the present application.
- FIG. 2 shows a flowchart of a method for updating the first exposure duration according to an embodiment of the present application.
- FIG. 3 shows a flowchart of a method for updating brightness gain according to an embodiment of the present application.
- FIG. 4 shows a flowchart of a method for updating the first exposure duration according to an embodiment of the present application.
- FIG. 5 shows a block diagram of an exposure duration adjustment device according to an embodiment of the present application.
- FIG. 6 shows a block diagram of an apparatus for adjusting exposure duration according to an embodiment of the present application.
- FIG. 7 shows a block diagram of an electronic device according to an embodiment of the present application.
- the current movement speed of the movable device can be determined, and the maximum allowable exposure time of the image acquisition device can be determined according to the current movement speed.
- the first exposure time of the image acquisition device is greater than the maximum allowable exposure time, the first exposure can be based on Duration and maximum allowable exposure duration, update the first exposure duration to reduce the exposure duration of the image acquisition device, so that when the movable device moves at the current movement speed, the image captured by the image acquisition device provided on the movable device can Meet the requirements of clarity, and then you can identify all the objects located on the road, and you can accurately analyze the road condition, and then adjust the movement status according to the road condition to avoid accidents such as car accidents.
- FIG. 1 illustrates a flowchart of an exposure duration adjustment method according to an embodiment of the present application.
- the method for adjusting the exposure duration may include:
- step S101 the current moving speed of the movable device is determined.
- the mobile device can receive the odometer information obtained by the odometer, the odometer is set on the mobile device, and then determine the current moving speed of the mobile device according to the odometer information.
- step S102 the maximum allowable exposure duration of the image acquisition device is determined according to the current movement speed, and the image acquisition device is set on the movable device.
- the movable device can be controlled to move at a constant speed with the mobile device in advance, and then during the movement at a constant speed, a plurality of different exposure durations are used to shoot a video respectively, and then an image recognition algorithm is used to shoot Determine the candidate video that meets the definition requirements among the multiple videos of the; determine the maximum exposure duration of the exposure duration corresponding to each candidate video as the maximum allowable exposure duration corresponding to the movement speed, and then compare the movement speed with the movement speed
- the corresponding maximum allowable exposure time constitutes a correspondence table item and is stored in the correspondence between the moving speed and the maximum allowable exposure time.
- the movable device when the movable device is at the current moving speed, use a plurality of different exposure durations to shoot a video; use an image recognition algorithm to determine the candidate videos that meet the definition requirements among the multiple videos taken; The maximum exposure time of the exposure time corresponding to each candidate video is determined as the maximum allowable exposure time corresponding to the current moving speed; the current moving speed and the maximum allowable exposure time corresponding to the current moving speed are combined into a corresponding entry and stored in the moving speed In correspondence with the maximum allowable exposure time.
- the maximum allowable exposure time corresponding to the current moving speed can be found in the correspondence between the moving speed and the maximum allowable exposure time, and used as the maximum allowable exposure time of the image acquisition device.
- step S103 the first exposure duration of the image acquisition device is determined.
- the image acquisition device internally stores some shooting parameters, such as exposure time, aperture, and depth of field, etc.
- some shooting parameters such as exposure time, aperture, and depth of field, etc.
- the exposure duration included in the internally stored shooting parameters can be acquired as the first exposure duration.
- step S104 the first exposure duration is updated based on the first exposure duration and the maximum allowable exposure duration.
- the first exposure duration is updated using the maximum allowable exposure duration, for example, the first exposure duration is updated to the maximum allowable exposure duration.
- the current moving speed of the movable device can be determined, and the maximum allowable exposure time of the image acquisition device can be determined according to the current moving speed.
- the first exposure time of the image acquisition device is greater than the maximum allowable exposure time, it can be based on the An exposure duration and the maximum allowable exposure duration, update the first exposure duration to reduce the exposure duration of the image acquisition device, and then make the movable device move at the current movement speed, the image acquisition device set on the movable device is captured
- the picture can meet the requirements of clarity, and then can identify all objects located on the road, and can accurately analyze the road condition, and then adjust the movement status according to the road condition to avoid accidents such as car accidents.
- step S104 includes:
- step S201 if the first exposure duration is greater than the maximum allowable exposure duration, it is determined that the second exposure duration is less than the maximum allowable exposure duration.
- one exposure duration can be selected from the exposure durations shorter than the maximum allowable exposure duration and used as the second exposure duration. For example, if the maximum allowable exposure time is 0.3 ms, and the exposure time less than the maximum allowable exposure time includes: 0.1 ms, 0.15 ms, 0.2 ms, 0.25 ms, etc., then 0.2 ms or 0.25 ms may be used as the second exposure time.
- step S202 the first exposure duration is updated based on the second exposure duration.
- the first exposure duration is updated to the second exposure duration; in another embodiment, the second exposure duration can be adjusted based on a preset offset, and the first exposure duration can be updated to the adjusted Second exposure time.
- the size of the preset offset can be determined by the delay time of the image sensor of the image acquisition device to the light sensing. Adjusting the second exposure time by the preset offset can ensure that the second exposure time is more accurate.
- the updated first exposure duration obtained based on the second exposure duration is 0.2 ms.
- the preset offset is 0.05ms
- the second exposure duration is 0.2ms
- the first exposure duration is 0.4ms
- the second exposure duration is adjusted based on the preset offset
- the resulting second exposure duration is 0.25ms
- the updated first exposure duration obtained based on the second exposure duration is 0.25 ms.
- the exposure duration of the image acquisition device is set to a second exposure duration that is less than the maximum allowable exposure duration, compared to taking a picture using the maximum allowable exposure duration. Compared with the maximum allowable exposure time, the image acquisition device takes pictures according to the second exposure time to further improve the clarity of the captured picture.
- the mobile device When recognizing the image collected by the image acquisition device, a recognition model is used.
- the recognition model is trained based on multiple sample images, and the brightness of the sample images is in the normal brightness interval, so that the recognition model has a normal brightness.
- the recognition accuracy of the image in the brightness interval is high, and the recognition accuracy of the image in which the brightness is not within the normal brightness interval is low.
- the method further includes:
- step S301 the first brightness gain of the image acquisition device is acquired.
- the image acquisition device stores some shooting parameters, such as exposure time, aperture, brightness gain, and depth of field, etc.
- the image acquisition device needs to shoot, it will acquire the internally stored shooting parameters and follow the acquired shooting parameters Shooting.
- the brightness gain included in the shooting parameters stored internally may be acquired as the first brightness gain.
- step S302 the second brightness gain is obtained according to the maximum allowable exposure duration, the first brightness gain, and the first exposure duration.
- the exposure time and brightness gain of the image acquisition device will affect the brightness of the image captured by the image acquisition device. For example, the longer the exposure time, the brighter the image captured by the image acquisition device, and the shorter the exposure time, the image acquisition The darker the picture taken by the device, the greater the brightness gain, the brighter the picture taken by the image acquisition device, and the smaller the brightness gain, the darker the picture taken by the image acquisition device. Therefore, it is necessary to make the brightness gain of the image acquisition device inversely proportional to the exposure time.
- the product between the first exposure duration and the first brightness gain can be calculated, and then the ratio between the product and the maximum allowable exposure duration can be calculated, and the ratio between the two can be used as the second brightness gain.
- step S303 the first brightness gain is updated based on the second brightness gain.
- the first brightness gain is updated to the second brightness gain.
- the brightness gain of the image acquisition device cannot be increased indefinitely, that is, some image acquisition devices have the maximum allowable brightness gain. If the image acquisition device is forcibly set to be greater than the maximum allowable brightness gain The brightness gain usually fails to be set, which causes the image acquisition device to still shoot at a brightness gain less than the second brightness gain when shooting, resulting in the brightness of the picture captured by the image acquisition device still being a lower brightness in the normal brightness interval.
- the maximum allowable brightness gain of the image acquisition device can be obtained; if the second brightness gain is less than the maximum allowable brightness gain, it is determined to be greater than or equal to the second brightness gain And a third brightness gain that is less than or equal to the maximum allowed brightness gain; update the first brightness gain to the third brightness gain; if the second brightness gain is greater than or equal to the maximum allowed brightness gain, update the first brightness gain to the maximum allowed brightness Gain.
- the third brightness gain greater than or equal to the second brightness gain and less than or equal to the maximum allowable brightness gain includes: 3.5, 4, 4.5, 5, etc. If so, you can use 3.5 or 4 as the third brightness gain; if the duration of the second brightness gain is 8, update the first brightness gain to the maximum allowable brightness gain of 7.
- step S104 includes:
- step S401 the first brightness gain of the image acquisition device is acquired.
- the image acquisition device stores some shooting parameters, such as exposure time, aperture, brightness gain, and depth of field, etc.
- the image acquisition device needs to shoot, it will acquire the internally stored shooting parameters and follow the acquired shooting parameters Shooting.
- the brightness gain included in the shooting parameters stored internally may be acquired as the first brightness gain.
- step S402 the maximum allowable brightness gain of the image acquisition device is acquired.
- step S403 the third exposure duration is determined according to the first exposure duration, the first brightness gain, and the maximum allowable brightness gain
- the exposure time and brightness gain of the image acquisition device will affect the brightness of the image captured by the image acquisition device. For example, the longer the exposure time, the brighter the image captured by the image acquisition device, and the shorter the exposure time, the image acquisition The darker the picture taken by the device, the greater the brightness gain, the brighter the picture taken by the image acquisition device, and the smaller the brightness gain, the darker the picture taken by the image acquisition device. Therefore, it is necessary to make the brightness gain of the image acquisition device inversely proportional to the exposure time.
- the brightness gain of the image acquisition device cannot be increased indefinitely, that is, some image acquisition devices have the maximum allowable brightness gain. If the image acquisition device is forcibly set to be greater than the maximum allowable brightness Gain brightness gain, usually will fail to set.
- the exposure duration of the image acquisition device cannot be reduced without limit, otherwise it will cause the accumulation of light during the shooting of the image acquisition device to decrease sharply, which in turn will cause the brightness of the image captured by the image acquisition device according to the reduced exposure time to be dark.
- the mobile device uses a recognition model.
- the recognition model is trained based on multiple sample images, and the brightness of the sample image is the normal brightness interval, so that the recognition model is located on the brightness.
- the recognition accuracy of the image in the normal brightness interval is high, while the recognition accuracy of the image in which the brightness is not within the normal brightness interval is low.
- the image acquisition device determines exposure time based on the first exposure time, the first brightness gain, and the maximum allowable brightness gain
- the minimum exposure duration for example, where the product between the first exposure duration and the first brightness gain can be calculated; then the third exposure duration is determined based on the ratio between the product and the maximum allowable brightness gain, for example, calculating the product and the maximum allowable
- the ratio between the brightness gains obtains the minimum exposure duration of the image acquisition device, that is, the third exposure duration.
- step S404 it is determined that the fourth exposure duration is greater than or equal to the third exposure duration and less than or equal to the maximum allowable exposure duration.
- one exposure duration can be selected as the fourth exposure duration from the exposure duration longer than or equal to the third exposure duration and shorter than or equal to the maximum allowable exposure duration.
- an exposure duration greater than or equal to the third exposure duration and less than or equal to the maximum allowable exposure duration 3.5ms, 4ms, 4.5ms, 5ms, etc. Then 3.5ms or 4ms can be used as the fourth exposure duration.
- step S405 the first exposure duration is updated to the fourth exposure duration.
- FIG. 5 illustrates a block diagram of an exposure duration adjustment device according to an embodiment of the present application.
- the exposure time adjustment device may include:
- the first determining module 501 is used to determine the current moving speed of the movable device
- a second determination module 502 configured to determine the maximum allowable exposure duration of the image acquisition device according to the current movement speed, the image acquisition device is set on the movable device;
- the third determining module 503 is used to determine the first exposure duration of the image acquisition device
- the first updating module 504 is configured to update the first exposure duration based on the first exposure duration and the maximum allowable exposure duration.
- the second determining module 502 includes:
- the shooting unit 5021 is configured to shoot a video using multiple different exposure durations when the movable device is at the current moving speed;
- the first determining unit 5022 is configured to use an image recognition algorithm to determine a candidate video that satisfies the definition requirement among the multiple videos captured;
- the second determining unit 5023 is configured to determine the maximum exposure duration of the exposure duration corresponding to each candidate video as the maximum allowable exposure duration corresponding to the current moving speed;
- the storage unit 5024 is configured to form a correspondence table item between the current movement speed and the maximum allowable exposure time corresponding to the current movement speed, and store it in the correspondence between the movement speed and the maximum allowable exposure time.
- the first determining module 502 further includes:
- the searching unit 5025 is configured to search for the maximum allowable exposure duration corresponding to the current moving speed in the correspondence between the moving speed and the maximum allowable exposure duration, and serve as the maximum allowable exposure duration of the image acquisition device.
- the first update module 504 includes:
- the third determining unit 5041 is configured to determine a second exposure duration less than the maximum allowable exposure duration if the first exposure duration is greater than the maximum allowable exposure duration;
- the first updating unit 5042 is configured to update the first exposure duration based on the second exposure duration.
- the device further includes:
- the first acquisition module 505 is configured to acquire the first brightness gain of the image acquisition device.
- the second obtaining module 506 is configured to obtain a second brightness gain according to the maximum allowable exposure duration, the first brightness gain, and the first exposure duration;
- the second updating module 507 is configured to update the first brightness gain based on the second brightness gain.
- the second update module 507 includes:
- the first acquiring unit 5073 is configured to acquire the maximum allowable brightness gain of the image acquisition device
- the third updating unit 5074 is configured to determine a third brightness gain greater than or equal to the second brightness gain and less than or equal to the maximum allowed brightness gain if the second brightness gain is less than the maximum allowed brightness gain; Updating the first brightness gain to the third brightness gain;
- the fourth updating unit 5075 is configured to update the first brightness gain to the maximum allowed brightness gain if the second brightness gain is greater than or equal to the maximum allowed brightness gain.
- the first update module 504 includes:
- the second acquiring unit 5043 is configured to acquire the first brightness gain of the image acquisition device
- the third acquiring unit 5044 is configured to acquire the maximum allowable brightness gain of the image acquisition device
- the fifth determining unit 5045 is configured to determine a third exposure duration according to the first exposure duration, the first brightness gain, and the maximum allowable brightness gain;
- the sixth determining unit 5046 is configured to determine a fourth exposure duration greater than or equal to the third exposure duration and less than or equal to the maximum allowable exposure duration;
- the fifth updating unit 5047 is configured to update the first exposure duration to the fourth exposure duration.
- the fifth determining unit 5043 includes:
- a calculation subunit used to calculate a product between the first exposure duration and the first brightness gain
- a determination subunit configured to determine the third exposure duration based on a ratio between the product and the maximum allowable brightness gain.
- the current moving speed of the movable device can be determined, and the maximum allowable exposure time of the image acquisition device can be determined according to the current moving speed.
- the first exposure time of the image acquisition device is greater than the maximum allowable exposure time, it can be based on the An exposure duration and the maximum allowable exposure duration, update the first exposure duration to reduce the exposure duration of the image acquisition device, and then make the movable device move at the current movement speed, the image acquisition device set on the movable device is captured
- the picture can meet the requirements of clarity, and then can identify all objects located on the road, and can accurately analyze the road condition, and then adjust the movement status according to the road condition to avoid accidents such as car accidents.
- FIG. 7 illustrates a block diagram of an electronic device according to an embodiment of the present application.
- the electronic device 10 includes one or more processors 11 and memory 12.
- the processor 11 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
- CPU central processing unit
- the memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory.
- the volatile memory may include, for example, random access memory (RAM) and / or cache memory.
- the non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like.
- One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the exposure duration adjustment method and / or the various embodiments of the present application described above Other desired functions.
- Various contents such as input signals, signal components, noise components, etc. can also be stored in the computer-readable storage medium.
- the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected by a bus system and / or other forms of connection mechanisms (not shown).
- the input device 13 may also include, for example, a keyboard, a mouse, and the like.
- the electronic device 10 may also include any other suitable components.
- embodiments of the present application may also be computer program products, which include computer program instructions that when executed by a processor cause the processor to perform the above-described "exemplary method" The steps in the exposure time adjustment method according to various embodiments of the present application described in the section.
- the computer program product may write program codes for performing operations of the embodiments of the present application in any combination of one or more programming languages, and the programming languages include object-oriented programming languages, such as Java, C ++, etc. , Also includes conventional procedural programming languages, such as "C" language or similar programming languages.
- the program code may be executed entirely on the user's computing device, partly on the user's device, as an independent software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server On the implementation.
- an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which when executed by a processor causes the processor to perform the above-mentioned "exemplary method" part of the specification
- the steps in the exposure time adjustment method according to various embodiments of the present application are described in.
- the computer-readable storage medium may employ any combination of one or more readable media.
- the readable medium may be a readable signal medium or a readable storage medium.
- the readable storage medium may include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any combination of the above, for example. More specific examples of readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the foregoing.
- each component or each step can be decomposed and / or recombined.
- decompositions and / or recombinations shall be regarded as equivalent solutions of this application.
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Abstract
公开了一种曝光时长调整方法、装置、电子设备及存储介质。因此，在本申请中，可以确定可移动设备的当前移动速度，根据当前移动速度确定图像采集设备的最大允许曝光时长，当图像采集设备的第一曝光时长大于最大允许曝光时长时，可以基于第一曝光时长与最大允许曝光时长，更新第一曝光时长，以降低图像采集设备的曝光时长，进而使得可移动设备在以当前移动速度移动时，设置在可移动设备上的图像采集设备拍摄得到的图片能够满足清晰度要求，进而可以识别出位于道路中的所有物体，也可以准确地分析出道路状况，然后根据可以道路状况来调整移动状态，避免出现车祸等意外事故。
Description
本申请涉及计算机技术领域，且更具体地，涉及一种曝光时长调整方法、装置、电子设备及存储介质。
随着技术的飞速发展，机器人在各行各业得到了广泛使用，在机器人移动的过程中往往需要通过摄像头来感知道路状况，例如，感知道路中的车辆、行人以及各种障碍物等，然后根据道路状况来调整移动状态，避免出现车祸等意外事故。
其中，机器人可以使用摄像头拍摄包括道路的图片，然后在该图片中识别位于道路中的所有物体，再根据识别出的物体分析道路状况。
发明内容
为了解决上述技术问题，提出了本申请。本申请的实施例提供了一种曝光时长调整方法、装置、电子设备及存储介质。
根据本申请的一方面，提供了一种曝光时长调整方法，包括：
确定可移动设备的当前移动速度；
根据所述当前移动速度确定图像采集设备的最大允许曝光时长，所述图像采集设备设置在所述可移动设备上；
确定所述图像采集设备的第一曝光时长；
基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长。
根据本申请的另一方面，提供了一种曝光时长调整装置，包括：
第一确定模块，用于确定可移动设备的当前移动速度；
第二确定模块，用于根据所述当前移动速度确定图像采集设备的最大允许曝光时长，所述图像采集设备设置在所述可移动设备上；
第三确定模块，用于确定所述图像采集设备的第一曝光时长；
第一更新模块，用于基于所述第一曝光时长与所述最大允许曝光时长， 更新所述第一曝光时长。
根据本申请的另一方面，提供了一种电子设备，包括：处理器；存储器；以及存储在所述存储器中的计算机程序指令，所述计算机程序指令在被所述处理器运行时使得所述处理器执行上述的曝光时长调整方法。
根据本申请的另一方面，提供了一种计算机程序产品，包括计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行上述的曝光时长调整方法。
根据本申请的另一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行上述的曝光时长调整方法。
在本申请中，当可移动设备的移动速度较快时，如果图像采集设备的曝光时长较高，则图像采集设备拍摄的图片无法满足清晰度要求，进而无法识别出位于道路中的所有物体，也就无法准确地分析出道路状况，容易出现车祸等意外事故。
因此，在本申请中，可以确定可移动设备的当前移动速度，根据当前移动速度确定图像采集设备的最大允许曝光时长，当图像采集设备的第一曝光时长大于最大允许曝光时长时，可以基于第一曝光时长与最大允许曝光时长，更新第一曝光时长，以降低图像采集设备的曝光时长，进而使得可移动设备在以当前移动速度移动时，设置在可移动设备上的图像采集设备拍摄得到的图片能够满足清晰度要求，进而可以识别出位于道路中的所有物体，也可以准确地分析出道路状况，然后根据可以道路状况来调整移动状态，避免出现车祸等意外事故。
通过结合附图对本申请实施例进行更详细的描述，本申请的上述以及其他目的、特征和优势将变得更加明显。附图用来提供对本申请实施例的进一步理解，并且构成说明书的一部分，与本申请实施例一起用于解释本申请，并不构成对本申请的限制。在附图中，相同的参考标号通常代表相同部件或步骤。
图1根据本申请实施例示出了一种曝光时长调整方法的流程图。
图2根据本申请实施例示出了一种更新第一曝光时长的方法的流程图。
图3根据本申请实施例示出了一种更新亮度增益的方法的流程图。
图4根据本申请实施例示出了一种更新第一曝光时长的方法的流程图。
图5根据本申请实施例示出了一种曝光时长调整装置的框图。
图6根据本申请实施例示出了一种曝光时长调整装置的框图。
图7根据本申请实施例示出了一种电子设备的框图。
下面，将参考附图详细地描述根据本申请的示例实施例。显然，所描述的实施例仅仅是本申请的一部分实施例，而不是本申请的全部实施例，应理解，本申请不受这里描述的示例实施例的限制。
在本申请中，可以确定可移动设备的当前移动速度，根据当前移动速度确定图像采集设备的最大允许曝光时长，当图像采集设备的第一曝光时长大于最大允许曝光时长时，可以基于第一曝光时长与最大允许曝光时长，更新第一曝光时长，以降低图像采集设备的曝光时长，进而使得可移动设备在以当前移动速度移动时，设置在可移动设备上的图像采集设备拍摄得到的图片能够满足清晰度要求，进而可以识别出位于道路中的所有物体，也可以准确地分析出道路状况，然后根据可以道路状况来调整移动状态，避免出现车祸等意外事故。
图1图示了根据本申请实施例的曝光时长调整方法的流程图。
如图1所示，根据本申请实施例的曝光时长调整方法可以包括：
在步骤S101中，确定可移动设备的当前移动速度。
在本申请中，可移动设备可以接收里程计获取的里程计信息，里程计设置在可移动设备上，然后根据里程计信息确定可移动设备的当前移动速度。
在步骤S102中，根据当前移动速度确定图像采集设备的最大允许曝光时长，图像采集设备设置在可移动设备上。
在本申请中，对于任意一个移动速度，事先可以控制可移动设备以该移动设备匀速移动，然后在匀速移动过程中，使用多个不同的曝光时长分别拍摄一视频，然后使用图像识别算法在拍摄的多个视频中确定满足清晰度要求的候选视频；将每一个候选视频对应的曝光时长中的最大的曝光时长确定为该移动速度对应的最大允许曝光时长，然后将该移动速度与该移动速度对应 的最大允许曝光时长组成对应表项，并存储在移动速度与最大允许曝光时长之间的对应关系中。
例如，对于当前移动速度，在可移动设备处于当前移动速度时，使用多个不同的曝光时长分别拍摄一视频；使用图像识别算法在拍摄的多个视频中确定满足清晰度要求的候选视频；将每一个候选视频对应的曝光时长中的最大的曝光时长确定为当前移动速度对应的最大允许曝光时长；将当前移动速度与当前移动速度对应的最大允许曝光时长组成对应表项，并存储在移动速度与最大允许曝光时长之间的对应关系中。
对于其他每一移动速度，同样执行上述操作。
如此，在本步骤中，可以在移动速度与最大允许曝光时长之间的对应关系中，查找与当前移动速度相对应的最大允许曝光时长，并作为图像采集设备的最大允许曝光时长。
在步骤S103中，确定图像采集设备的第一曝光时长。
在本申请中，图像采集设备内部存储有一些拍摄参数，例如曝光时长、光圈、以及景深等等，当图像采集设备需要拍摄时，会获取内部存储的拍摄参数，并按照获取的拍摄参数拍摄。
如此，在本步骤中，可以获取内部存储的拍摄参数包括的曝光时长，并作为第一曝光时长。
在步骤S104中，基于第一曝光时长与最大允许曝光时长，更新第一曝光时长。
在本申请中，如果第一曝光时长大于最大允许曝光时长，则使用最大允许曝光时长更新第一曝光时长，例如，将第一曝光时长更新为最大允许曝光时长。
在本申请中，当可移动设备的移动速度较快时，如果图像采集设备的曝光时长较高，则图像采集设备拍摄的图片无法满足清晰度要求，进而无法识别出位于道路中的所有物体，也就无法准确地分析出道路状况，容易出现车祸等意外事故。
因此，在本申请中，可以确定可移动设备的当前移动速度，根据当前移动速度确定图像采集设备的最大允许曝光时长，当图像采集设备的第一曝光时长大于最大允许曝光时长时，可以基于第一曝光时长与最大允许曝光时长，更新第一曝光时长，以降低图像采集设备的曝光时长，进而使得可移动设备 在以当前移动速度移动时，设置在可移动设备上的图像采集设备拍摄得到的图片能够满足清晰度要求，进而可以识别出位于道路中的所有物体，也可以准确地分析出道路状况，然后根据可以道路状况来调整移动状态，避免出现车祸等意外事故。
进一步地，为了进一步提高图像采集设备拍摄的图片的清晰度，参见图2，步骤S104包括：
在步骤S201中，如果第一曝光时长大于最大允许曝光时长，则确定小于最大允许曝光时长的第二曝光时长。
其中，可以在小于最大允许曝光时长的曝光时长中选择一个曝光时长，并作为第二曝光时长。例如，最大允许曝光时长为0.3ms，小于最大允许曝光时长的曝光时长包括：0.1ms、0.15ms、0.2ms，0.25ms，等等，则可以将0.2ms或者0.25ms作为第二曝光时长。
在步骤S202中，基于第二曝光时长更新第一曝光时长。
在一实施例中，将第一曝光时长更新为第二曝光时长；在另一实施例中，可以基于一个预设偏移量调整第二曝光时长，将第一曝光时长更新为调整后的第二曝光时长。其中，预设偏移量的大小可以由图像采集设备的图像传感器对光线感应的延迟时长来确定，通过预设偏移量调整第二曝光时长，可以确保第二曝光时长更准确。
例如，第二曝光时长为0.2ms，第一曝光时长为0.4ms，则基于第二曝光时长得到的更新后的第一曝光时长为0.2ms。再例如，预设偏移量为0.05ms，第二曝光时长为0.2ms，第一曝光时长为0.4ms，则基于预设偏移量调整第二曝光时长，得到的第二曝光时长为0.25ms，基于第二曝光时长得到的更新后的第一曝光时长为0.25ms。
在本申请中，由于第二曝光时长小于最大允许曝光时长，因此，相比于使用最大允许曝光时长拍摄图片，将图像采集设备的曝光时长设置为小于最大允许曝光时长的第二曝光时长，相比于最大允许曝光时长，图像采集设备按照第二曝光时长拍摄可以进一步提高拍摄的图片的清晰度。
然而，如果降低了图像采集设备的曝光时长，则会导致图像采集设备在拍摄的过程中的光照累积减少，进而导致图像采集设备按照降低后的曝光时 长拍摄的图像的亮度较暗，可移动设备在对图像采集设备采集的图像识别时，使用的是识别模型，识别模型是基于多个样本图像训练得到的，且样本图像的亮度均是正常的亮度区间，如此使得识别模型对亮度位于正常的亮度区间内的图像的识别准确率较高，而对亮度不位于正常的亮度区间内的图像的识别准确率较低。
因此，在图像采集设备按照降低后的曝光时长拍摄的图像的亮度较暗时，可移动设备使用识别模型对图像识别之后，可能识别不出图像中的一些物体，也就无法准确地分析出道路状况，容易出现车祸等意外事故。
因此，为了在降低图像采集设备的曝光时长之后，使得可移动设备能够使用识别模型识别出图像中的所有物体，在本申请另一实施例中，参见图3，该方法还包括：
在步骤S301中，获取图像采集设备的第一亮度增益。
在本申请中，图像采集设备内部存储有一些拍摄参数，例如曝光时长、光圈、亮度增益以及景深等等，当图像采集设备需要拍摄时，会获取内部存储的拍摄参数，并按照获取的拍摄参数拍摄。
如此，在本步骤中，可以获取内部存储的拍摄参数包括的亮度增益，并作为第一亮度增益。
在步骤S302中，根据最大允许曝光时长、第一亮度增益以及第一曝光时长获取第二亮度增益。
通常情况下，图像采集设备的曝光时长和亮度增益都会影响图像采集设备拍摄得到的图片的亮度，例如，例如，曝光时长越长，图像采集设备拍摄的图片越亮，曝光时长越短，图像采集设备拍摄的图片越暗，亮度增益越大，图像采集设备拍摄的图片越亮，亮度增益越小，图像采集设备拍摄的图片越暗。因此，需要使得图像采集设备的亮度增益和曝光时长成反比。
如此，在降低图像采集设备的曝光时长之后，需要增加图像采集设备的亮度增益，以提高图像采集设备在拍摄的过程中的光照累积，进而提高图像采集设备拍摄的图片的亮度。
其中，可以计算第一曝光时长与第一亮度增益之间的乘积，然后计算该乘积与最大允许曝光时长之间的比值，将二者的比值作为第二亮度增益。
在步骤S303中，基于第二亮度增益更新第一亮度增益。
例如，将第一亮度增益更新为第二亮度增益。
有时候，受制于图像采集设备的硬件条件，图像采集设备的亮度增益无法无限增加，也即，有些图像采集设备是具备最大允许亮度增益的，如果给图像采集设备强行设置大于最大允许亮度增益的亮度增益，通常会设置失败，导致图像采集设备在拍摄时仍旧会按照小于第二亮度增益的亮度增益拍摄，导致图像采集设备拍摄到的图片的亮度仍旧是正常的亮度区间较低的亮度。
因此，在这情况下，为了能够成功地提高图像采集设备的亮度增益，可以获取图像采集设备的最大允许亮度增益；如果第二亮度增益小于最大允许亮度增益，则确定大于或等于第二亮度增益且小于或等于最大允许亮度增益的第三亮度增益；将第一亮度增益更新为第三亮度增益；如果第二亮度增益大于或等于最大允许亮度增益，则将第一亮度增益更新为最大允许亮度增益。
例如，假设最大允许亮度增益为7且第二亮度增益时长为3，则大于或等于第二亮度增益且小于或等于最大允许亮度增益的第三亮度增益包括：3.5、4、4.5、5，等等，则可以将3.5或者4作为第三亮度增益；如果第二亮度增益时长为8，将第一亮度增益更新为最大允许亮度增益7。
在本申请另一实施例中，参见图4，在步骤S104包括：
在步骤S401中，获取图像采集设备的第一亮度增益。
在本申请中，图像采集设备内部存储有一些拍摄参数，例如曝光时长、光圈、亮度增益以及景深等等，当图像采集设备需要拍摄时，会获取内部存储的拍摄参数，并按照获取的拍摄参数拍摄。
如此，在本步骤中，可以获取内部存储的拍摄参数包括的亮度增益，并作为第一亮度增益。
在步骤S402中，获取图像采集设备的最大允许亮度增益。
在步骤S403中，根据第一曝光时长、第一亮度增益以及最大允许亮度增益确定第三曝光时长；
通常情况下，图像采集设备的曝光时长和亮度增益都会影响图像采集设备拍摄得到的图片的亮度，例如，例如，曝光时长越长，图像采集设备拍摄的图片越亮，曝光时长越短，图像采集设备拍摄的图片越暗，亮度增益越大，图像采集设备拍摄的图片越亮，亮度增益越小，图像采集设备拍摄的图片越暗。因此，需要使得图像采集设备的亮度增益和曝光时长成反比。
如此，在降低图像采集设备的曝光时长之后，需要增加图像采集设备的 亮度增益，以提高图像采集设备在拍摄的过程中的光照累积，进而提高图像采集设备拍摄的图片的亮度。
然而，有时候，受制于图像采集设备的硬件条件，图像采集设备的亮度增益无法无限增加，也即，有些图像采集设备是具备最大允许亮度增益的，如果给图像采集设备强行设置大于最大允许亮度增益的亮度增益，通常会设置失败。
因此，不能无限制降低图像采集设备的曝光时长，否则会导致图像采集设备在拍摄的过程中的光照累积急剧减少，进而导致图像采集设备按照降低后的曝光时长拍摄的图像的亮度较暗，可移动设备在对图像采集设备采集的图像识别时，使用的是识别模型，识别模型是基于多个样本图像训练得到的，且样本图像的亮度均是正常的亮度区间，如此使得识别模型对亮度位于正常的亮度区间内的图像的识别准确率较高，而对亮度不位于正常的亮度区间内的图像的识别准确率较低。
因此，在图像采集设备按照降低后的曝光时长拍摄的图像的亮度较暗时，可移动设备使用识别模型对图像识别之后，可能识别不出图像中的一些物体，也就无法准确地分析出道路状况，容易出现车祸等意外事故。
因此，为了在降低图像采集设备的曝光时长之后，使得可移动设备能够使用识别模型识别出图像中的所有物体，需要根据第一曝光时长、第一亮度增益以及最大允许亮度增益确定图像采集设备的最小曝光时长，例如，其中，可以计算第一曝光时长与第一亮度增益之间的乘积；然后基于乘积与最大允许亮度增益之间的比值，确定第三曝光时长，例如计算该乘积与最大允许亮度增益之间的比值，得到图像采集设备的最小曝光时长，也即，第三曝光时长。
在步骤S404中，确定大于或等于第三曝光时长且小于或等于最大允许曝光时长的第四曝光时长。
其中，可以在大于或等于第三曝光时长且小于或等于最大允许曝光时长的曝光时长中选择一个曝光时长，作为第四曝光时长。
例如，假设最大允许曝光时长为8ms且第三曝光时长时长为3ms，大于或等于第三曝光时长且小于或等于最大允许曝光时长的曝光时长：3.5ms，4ms，4.5ms，5ms，等等，则可以将3.5ms或者4ms作为第四曝光时长。
在步骤S405中，将第一曝光时长更新为第四曝光时长。
示例性装置
下面，参考图5来描述根据本申请实施例的曝光时长调整装置。
图5图示了根据本申请实施例的曝光时长调整装置的框图。
如图5所示，根据本申请实施例的所述曝光时长调整装置可以包括：
第一确定模块501，用于确定可移动设备的当前移动速度；
第二确定模块502，用于根据所述当前移动速度确定图像采集设备的最大允许曝光时长，所述图像采集设备设置在所述可移动设备上；
第三确定模块503，用于确定所述图像采集设备的第一曝光时长；
第一更新模块504，用于基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长。
参见图6，在一个可选的实现方式中，所述第二确定模块502包括：
拍摄单元5021，用于拍摄在所述可移动设备处于所述当前移动速度时，使用多个不同的曝光时长分别拍摄一视频；
第一确定单元5022，用于使用图像识别算法在拍摄的多个视频中确定满足清晰度要求的候选视频；
第二确定单元5023，用于将每一个候选视频对应的曝光时长中的最大的曝光时长确定为所述当前移动速度对应的最大允许曝光时长；
存储单元5024，用于将所述当前移动速度与所述当前移动速度对应的最大允许曝光时长组成对应表项，并存储在移动速度与最大允许曝光时长之间的对应关系中。
在一个可选的实现方式中，所述第一确定模块502还包括：
查找单元5025，用于在移动速度与最大允许曝光时长之间的对应关系中，查找与所述当前移动速度相对应的最大允许曝光时长，并作为所述图像采集设备的最大允许曝光时长。
在一个可选的实现方式中，所述第一更新模块504包括：
第三确定单元5041，用于如果所述第一曝光时长大于所述最大允许曝光时长，则确定小于所述最大允许曝光时长的第二曝光时长；
第一更新单元5042，用于基于所述第二曝光时长更新所述第一曝光时长。
在一个可选的实现方式中，所述装置还包括：
第一获取模块505，用于获取所述图像采集设备的第一亮度增益。
第二获取模块506，用于根据所述最大允许曝光时长、所述第一亮度增益以及所述第一曝光时长获取第二亮度增益；
第二更新模块507，用于基于所述第二亮度增益更新所述第一亮度增益。
在一个可选的实现方式中，所述第二更新模块507包括：
第一获取单元5073，用于获取所述图像采集设备的最大允许亮度增益；
第三更新单元5074，用于如果所述第二亮度增益小于所述最大允许亮度增益，则确定大于或等于所述第二亮度增益且小于或等于所述最大允许亮度增益的第三亮度增益；将所述第一亮度增益更新为所述第三亮度增益；
第四更新单元5075，用于如果所述第二亮度增益大于或等于所述最大允许亮度增益，则将所述第一亮度增益更新为所述最大允许亮度增益。
在一个可选的实现方式中，所述第一更新模块504包括：
第二获取单元5043，用于获取所述图像采集设备的第一亮度增益；
第三获取单元5044，用于获取所述图像采集设备的最大允许亮度增益；
第五确定单元5045，用于根据所述第一曝光时长、所述第一亮度增益以及所述最大允许亮度增益确定第三曝光时长；
第六确定单元5046，用于确定大于或等于第三曝光时长且小于或等于所述最大允许曝光时长的第四曝光时长；
第五更新单元5047，用于将所述第一曝光时长更新为所述第四曝光时长。
在一个可选的实现方式中，所述第五确定单元5043包括：
计算子单元，用于计算所述第一曝光时长与所述第一亮度增益之间的乘积；
确定子单元，用于基于所述乘积与所述最大允许亮度增益之间的比值，确定所述第三曝光时长。
在本申请中，当可移动设备的移动速度较快时，如果图像采集设备的曝光时长较高，则图像采集设备拍摄的图片无法满足清晰度要求，进而无法识别出位于道路中的所有物体，也就无法准确地分析出道路状况，容易出现车祸等意外事故。
因此，在本申请中，可以确定可移动设备的当前移动速度，根据当前移动速度确定图像采集设备的最大允许曝光时长，当图像采集设备的第一曝光时长大于最大允许曝光时长时，可以基于第一曝光时长与最大允许曝光时长，更新第一曝光时长，以降低图像采集设备的曝光时长，进而使得可移动设备 在以当前移动速度移动时，设置在可移动设备上的图像采集设备拍摄得到的图片能够满足清晰度要求，进而可以识别出位于道路中的所有物体，也可以准确地分析出道路状况，然后根据可以道路状况来调整移动状态，避免出现车祸等意外事故。
示例性电子设备
下面，参考图7来描述根据本申请实施例的电子设备。
图7图示了根据本申请实施例的电子设备的框图。
如图7所示，电子设备10包括一个或多个处理器11和存储器12。
处理器11可以是中央处理单元(CPU)或者具有数据处理能力和/或指令执行能力的其他形式的处理单元，并且可以控制电子设备10中的其他组件以执行期望的功能。
存储器12可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器11可以运行所述程序指令，以实现上文所述的本申请的各个实施例的曝光时长调整方法以及/或者其他期望的功能。在所述计算机可读存储介质中还可以存储诸如输入信号、信号分量、噪声分量等各种内容。
在一个示例中，电子设备10还可以包括：输入装置13和输出装置14，这些组件通过总线系统和/或其他形式的连接机构(未示出)互连。
此外，该输入设备13还可以包括例如键盘、鼠标等等。
该输出装置14可以向外部输出各种信息，包括确定出的距离信息、方向信息等。该输出设备14可以包括例如显示器、扬声器、打印机、以及通信网络及其所连接的远程输出设备等等。
当然，为了简化，图7中仅示出了该电子设备10中与本申请有关的组件中的一些，省略了诸如总线、输入/输出接口等等的组件。除此之外，根据具体应用情况，电子设备10还可以包括任何其他适当的组件。
示例性计算机程序产品和计算机可读存储介质
除了上述方法和设备以外，本申请的实施例还可以是计算机程序产品，其包括计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的曝光时长调整方法中的步骤。
所述计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，所述程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。
此外，本申请的实施例还可以是计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行本说明书上述“示例性方法”部分中描述的根据本申请各种实施例的曝光时长调整方法中的步骤。
所述计算机可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。
本申请中涉及的器件、装置、设备、系统的方框图仅作为例示性的例子 并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、系统。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。
还需要指出的是，在本申请的装置、设备和方法中，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。
提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此公开的原理和新颖的特征一致的最宽范围。
为了例示和描述的目的已经给出了以上描述。此外，此描述不意图将本申请的实施例限制到在此公开的形式。尽管以上已经讨论了多个示例方面和实施例，但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合。
Claims (11)
- 一种曝光时长调整方法，包括：确定可移动设备的当前移动速度；根据所述当前移动速度确定图像采集设备的最大允许曝光时长，所述图像采集设备设置在所述可移动设备上；确定所述图像采集设备的第一曝光时长；基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长。
- 根据权利要求1所述的方法，其中，所述方法还包括：在所述可移动设备处于所述当前移动速度时，使用多个不同的曝光时长分别拍摄一视频；使用图像识别算法在拍摄的多个视频中确定满足清晰度要求的候选视频；将每一个候选视频对应的曝光时长中的最大的曝光时长确定为所述当前移动速度对应的最大允许曝光时长；将所述当前移动速度与所述当前移动速度对应的最大允许曝光时长组成对应表项，并存储在移动速度与最大允许曝光时长之间的对应关系中。
- 根据权利要求2所述的方法，其中，所述根据所述当前移动速度确定图像采集设备的最大允许曝光时长，包括：在移动速度与最大允许曝光时长之间的对应关系中，查找与所述当前移动速度相对应的最大允许曝光时长，并作为所述图像采集设备的最大允许曝光时长。
- 根据权利要求1所述的方法，其中，所述基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长，包括：如果所述第一曝光时长大于所述最大允许曝光时长，则确定小于所述最大允许曝光时长的第二曝光时长；基于所述第二曝光时长更新所述第一曝光时长。
- 根据权利要求4所述的方法，其中，所述方法还包括：获取所述图像采集设备的第一亮度增益；根据所述最大允许曝光时长、所述第一亮度增益以及所述第一曝光时长获取第二亮度增益；基于所述第二亮度增益更新所述第一亮度增益。
- 根据权利要求5所述的方法，其中，所述基于所述第二亮度增益更新所述第一亮度增益，包括：获取所述图像采集设备的最大允许亮度增益；如果所述第二亮度增益小于所述最大允许亮度增益，则确定大于或等于所述第二亮度增益且小于或等于所述最大允许亮度增益的第三亮度增益；将所述第一亮度增益更新为所述第三亮度增益；如果所述第二亮度增益大于或等于所述最大允许亮度增益，则将所述第一亮度增益更新为所述最大允许亮度增益。
- 根据权利要求1所述的方法，其中，所述基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长，包括：获取所述图像采集设备的第一亮度增益；获取所述图像采集设备的最大允许亮度增益；根据所述第一曝光时长、所述第一亮度增益以及所述最大允许亮度增益确定第三曝光时长；确定大于或等于第三曝光时长且小于或等于所述最大允许曝光时长的第四曝光时长；将所述第一曝光时长更新为所述第四曝光时长。
- 根据权利要求7所述的方法，其中，所述根据所述第一曝光时长、所述第一亮度增益以及所述最大允许亮度增益确定第三曝光时长，包括：计算所述第一曝光时长与所述第一亮度增益之间的乘积；基于所述乘积与所述最大允许亮度增益之间的比值，确定所述第三曝光时长。
- 一种曝光时长调整装置，包括：第一确定模块，用于确定可移动设备的当前移动速度；第二确定模块，用于根据所述当前移动速度确定图像采集设备的最大允许曝光时长，所述图像采集设备设置在所述可移动设备上；第三确定模块，用于确定所述图像采集设备的第一曝光时长；第一更新模块，用于基于所述第一曝光时长与所述最大允许曝光时长，更新所述第一曝光时长。
- 一种电子设备，包括：处理器；存储器；以及存储在所述存储器中的计算机程序指令，所述计算机程序指令在被所述处理器运行时使得所述处理器执行如权利要求1-8中任一项所述的方法。
- 一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令在被处理器运行时使得所述处理器执行如权利要求1-8中任一项所述的方法。
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|---|---|---|---|---|
| CN114245026A (zh) * | 2021-12-15 | 2022-03-25 | 惠州Tcl移动通信有限公司 | 拍摄方法、装置、计算机设备及存储介质 |
| CN114245026B (zh) * | 2021-12-15 | 2023-10-13 | 惠州Tcl移动通信有限公司 | 拍摄方法、装置、计算机设备及存储介质 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111212239A (zh) | 2020-05-29 |
| CN111212239B (zh) | 2021-06-04 |
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