TWI726274B - Image sensing system and adjusting method thereof - Google Patents

Image sensing system and adjusting method thereof Download PDF

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TWI726274B
TWI726274B TW108102104A TW108102104A TWI726274B TW I726274 B TWI726274 B TW I726274B TW 108102104 A TW108102104 A TW 108102104A TW 108102104 A TW108102104 A TW 108102104A TW I726274 B TWI726274 B TW I726274B
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sensing system
image sensing
sun
path
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TW202028841A (en
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周達業
吳佳昇
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宏碁股份有限公司
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Abstract

An image sensing system which is disposed on a vehicle is provided. The image sensing system includes: an image sensor for acquiring the images; a light intensity adjuster for adjusting the incident light intensity which incidents the image sensor; a processor for implementing the following: obtaining an estimated route of the vehicle at a first time point; obtaining a predicted position of the vehicle on the estimated route after a set time elapsed from the first time point; estimating the predicted traveling direction of the vehicle at the predicted position according to the estimated route; obtaining a position of the sun relative to the predicted position; and adjusting the light intensity adjuster according to the relative angular relationship between the predicted traveling direction and the position of the sun.

Description

影像感測系統及其調控方法Image sensing system and its control method

本揭露係有關於一種影像感測系統，特別係有關於用於自駕車之自動調控影像感測系統及其調控方法。The present disclosure relates to an image sensing system, and particularly relates to an automatic control image sensing system for self-driving cars and a control method thereof.

隨著近年來科技的進步，自駕車(Self-Driving Car, SDC)的出現成為可能。在認識到了自駕車的發展潛力後，諸多大型企業爭相投入自駕車產業，使得自駕車的發展更為迅速。根據美國國家公路交通安全管理局(NHTSA)提出的自動駕駛分類系統，自駕車的發展會從幫助行車安全的個別裝置開始，逐步減輕駕駛員的負擔，接著讓車輛主導駕駛，並以駕駛員為輔助，最終實現不需要駕駛員的、完全的自行駕駛。然而，為了使自駕車能作出正確的決策以避免發生事故，就必須確保自駕車的感測器能獲得正確的資訊。With the advancement of science and technology in recent years, the emergence of self-driving cars (SDC) has become possible. After recognizing the development potential of self-driving cars, many large companies have rushed to invest in the self-driving car industry, making the development of self-driving cars faster. According to the automatic driving classification system proposed by the National Highway Traffic Safety Administration (NHTSA), the development of self-driving vehicles will start with individual devices that help driving safety, gradually reduce the burden on the driver, and then let the vehicle lead the driving, and use the driver as the driver. Assist, and finally realize completely self-driving without the driver. However, in order for self-driving cars to make correct decisions to avoid accidents, it is necessary to ensure that the sensors of self-driving cars can obtain correct information.

對自駕車的影像感測器而言，陽光的直射會導致獲取的資料異常，如此可能使自駕車無法作出正確的決策而發生危險。現行技術可使用環境光感測器(Ambient Light Sensor, ALS)量測照度，但ALS對於自然光的紅外線波長過於敏感，若車輛位於陰影之下，通常會被判定為光線不足。然而，車載之影像感測器的測光方式通常屬於全面測光，即使車輛位於陰影下且環境光感測器判定光線不足，但若太陽剛好落在畫面中而使陽光直射影像感測器，影像感測器依舊會接收過多的光線而使獲取的資料不易判讀。因此，需要一種技術可以在陽光直射的情況下，確保影像感測器能獲取正確的資料。For the image sensor of a self-driving car, direct sunlight will cause abnormal data obtained, which may make the self-driving car unable to make correct decisions and become dangerous. The current technology can use an Ambient Light Sensor (ALS) to measure the illuminance, but ALS is too sensitive to the infrared wavelength of natural light. If the vehicle is in the shadow, it will usually be judged as insufficient light. However, the light metering method of the vehicle-mounted image sensor is usually full metering. Even if the vehicle is in the shadow and the ambient light sensor determines that the light is insufficient, if the sun just falls on the screen and direct sunlight hits the image sensor, the image sensor The detector will still receive too much light, making the acquired data difficult to interpret. Therefore, a technology is needed to ensure that the image sensor can obtain correct data under direct sunlight.

本揭露提供一種調控影像感測系統的方法，上述影像感測系統設置於交通載具上，且上述影像感測系統包括光強度調整器，上述方法包括：在第一時間點取得上述交通載具的一估計路徑；得出從上述第一時間點經過一設定時間後上述交通載具在上述估計路徑上的預估位置；依據上述估計路徑預估上述交通載具於上述預估位置時的預估行進方向；取得相對於上述預估位置的太陽位置；以及依據上述預估行進方向與上述太陽位置的相對角度關係，調整上述光強度調整器。The present disclosure provides a method for adjusting and controlling an image sensing system. The image sensing system is set on a traffic vehicle, and the image sensing system includes a light intensity adjuster. The method includes: acquiring the traffic vehicle at a first time point An estimated path of the vehicle; the estimated position of the traffic vehicle on the estimated path after a set time has elapsed from the first point in time; the predicted position of the traffic vehicle at the estimated position is estimated based on the estimated path Estimate the direction of travel; obtain the position of the sun relative to the estimated position; and adjust the light intensity adjuster according to the relative angle relationship between the estimated direction of travel and the position of the sun.

本揭露提供一種影像感測系統，設置於交通載具上，上述影像感測系統包括：影像感測器，用於獲取影像；光強度調整器，用於調整入射上述影像感測器之入射光強度；處理器，用於進行下列操作：在第一時間點取得上述交通載具的估計路徑；得出從上述第一時間點經過一設定時間後上述交通載具在上述估計路徑上的預估位置；依據上述估計路徑預估上述交通載具於上述預估位置時的預估行進方向；取得相對於上述預估位置的太陽位置；以及依據上述預估行進方向與上述太陽位置的相對角度關係，調整上述光強度調整器。The present disclosure provides an image sensing system, which is set on a traffic vehicle. The image sensing system includes: an image sensor for acquiring images; a light intensity adjuster for adjusting the incident light incident on the image sensor Strength; a processor for performing the following operations: obtaining the estimated path of the traffic vehicle at the first time point; obtaining an estimate of the traffic vehicle on the estimated path after a set time has elapsed from the first time point Position; estimate the estimated travel direction of the traffic vehicle at the estimated position based on the estimated path; obtain the sun position relative to the estimated position; and according to the relative angular relationship between the estimated traveling direction and the sun position , Adjust the above light intensity adjuster.

以下之揭露提供許多不同實施例或範例，用以實施本揭露之不同特徵。本揭露之各部件及排列方式，其特定範例敘述於下以簡化說明。理所當然的，這些範例並非用以限制本揭露。舉例來說，若敘述中有著第一特徵成形於第二特徵之上或上方，其可能包含第一特徵與第二特徵以直接接觸成形之實施例，亦可能包含有附加特徵形成於第一特徵與第二特徵之間，而使第一特徵與第二特徵間並非直接接觸之實施例。此外，本揭露可在多種範例中重複參考數字及/或字母。該重複之目的係為簡化及清晰易懂，且本身並不規定所討論之多種實施例及/或配置間之關係。The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. Specific examples of the components and arrangements of the present disclosure are described below to simplify the description. Of course, these examples are not meant to limit this disclosure. For example, if the description has the first feature formed on or above the second feature, it may include an embodiment in which the first feature and the second feature are formed in direct contact, or may include additional features formed on the first feature It is an embodiment in which the first feature and the second feature are not in direct contact with the second feature. In addition, the present disclosure may repeat reference numbers and/or letters in various examples. The purpose of this repetition is to simplify and be clear and understandable, and does not itself stipulate the relationship between the various embodiments and/or configurations discussed.

進一步來說，本揭露可能會使用空間相對術語，例如「在…下方」、「下方」、「低於」、「在…上方」、「高於」及類似詞彙，以便於敘述圖示中一個元件或特徵與其他元件或特徵間之關係。除了圖示所描繪之方位外，空間相對術語亦欲涵蓋使用中或操作中之裝置其不同方位。設備可能會被轉向不同方位(旋轉90度或其他方位)，而此處所使用之空間相對術語則可相應地進行解讀。Furthermore, this disclosure may use spatial relative terms, such as "below", "below", "below", "above", "above" and similar words to facilitate the description of one of the icons The relationship between an element or feature and other elements or features. In addition to the orientation depicted in the figure, the spatial relative terms are also intended to cover different orientations of the device in use or operation. The device may be turned to different orientations (rotated by 90 degrees or other orientations), and the spatial relative terms used here can be interpreted accordingly.

再進一步來說，除非特定否認，單數詞包含複數詞，反之亦然。而當一數字或一數字範圍以「大約」、「大概」或類似之用語描述，該用語旨在涵蓋包括所述數字在內之合理數字，例如所述數字之+/-10％或於本技術領域中具有通常知識者所理解之其他數值。To go further, unless specifically denied, singular words include plural words, and vice versa. When a number or a range of numbers is described in terms of "approximately", "approximately" or similar terms, the term is intended to cover reasonable numbers including the number, such as +/-10% of the number or in the text Other values understood by those with ordinary knowledge in the technical field.

此外，本揭露並不限於所示之動作或事件之順序，因為一些動作可以不同之順序發生及/或與其他動作或事件同時發生。此外，並非所有出示之動作或事件皆為實施根據本揭露之方法所必需的。In addition, the present disclosure is not limited to the sequence of actions or events shown, as some actions can occur in a different sequence and/or simultaneously with other actions or events. In addition, not all the actions or events shown are necessary to implement the method according to the present disclosure.

第1A圖係根據本揭露實施例所示之影像感測系統100之方塊圖。影像感測系統100包括影像感測器110、光強度調整器120、處理器130、儲存裝置140、使用者介面150、定位裝置160、通訊裝置170以及照度計180(選用)。影像感測器110用於獲取影像。光強度調整器120設置於影像感測器110上，光強度調整器120由處理器130控制，用以調節影像感測器110接收之光強度，以確保影像感測系統100可以獲得正確的影像資料。影像感測系統100可用於各種交通載具，例如自駕車、無人飛行載具或其他任何具有自動駕駛功能之機動載具，但不限於此。此外，為使說明清晰易懂，下列本揭露各種實施例皆以自駕車代稱上述各種交通載具。FIG. 1A is a block diagram of the image sensing system 100 according to an embodiment of the disclosure. The image sensing system 100 includes an image sensor 110, a light intensity adjuster 120, a processor 130, a storage device 140, a user interface 150, a positioning device 160, a communication device 170, and an illuminance meter 180 (optional). The image sensor 110 is used to obtain images. The light intensity adjuster 120 is disposed on the image sensor 110. The light intensity adjuster 120 is controlled by the processor 130 to adjust the light intensity received by the image sensor 110 to ensure that the image sensor system 100 can obtain the correct image data. The image sensing system 100 can be used in various transportation vehicles, such as self-driving vehicles, unmanned aerial vehicles, or any other motor vehicles with automatic driving functions, but it is not limited thereto. In addition, in order to make the description clear and easy to understand, the various embodiments of the present disclosure below all refer to the above-mentioned various transportation vehicles as self-driving vehicles.

影像感測器110可包括鏡頭及大量感光元件，用以獲取影像資料以供自動駕駛之用，上述感光元件包括感光耦合元件(charge-coupled device, CCD)及/或互補式金屬氧化物半導體(C omplementaryM etal-O xide-S emiconductor, CMOS)。在一些實施例中，影像感測器110具有自己的處理器及儲存裝置。在其他實施例中，影像感測器110以處理器130作為處理器，並以儲存裝置140作為儲存裝置。影像感測器100可為相機、攝影機或其他利用可見光成像之影像感測裝置。The image sensor 110 may include a lens and a large number of photosensitive elements for acquiring image data for automatic driving. The photosensitive elements include charge-coupled devices (CCD) and/or complementary metal oxide semiconductors ( C omplementary M etal- O xide- S emiconductor, CMOS). In some embodiments, the image sensor 110 has its own processor and storage device. In other embodiments, the image sensor 110 uses the processor 130 as the processor and the storage device 140 as the storage device. The image sensor 100 can be a camera, a video camera, or other image sensing devices that use visible light for imaging.

光強度調整器120與處理器130連接，用以調節影像感測器110之入射光強度。參照第1B圖，光強度調整器120可包括減光鏡122、致動器124及控制模組126。減光鏡122之功能為平均過濾各種波段之光線，以減少影像感測器110所接收之光強度。在一些實施例中，減光鏡122為可調式減光鏡(Variable ND Filter)。處理器130驅動控制模組126及致動器124而控制減光鏡122，以對應調整進光量，例如調整減光鏡122的減光係數。在一些實施例中，致動器124為電動致動器，根據控制模組126的指令調節減光鏡122。在某些實施例中，光強度調整器120不包括控制模組126，致動器124直接受處理器130控制。The light intensity adjuster 120 is connected to the processor 130 for adjusting the incident light intensity of the image sensor 110. Referring to FIG. 1B, the light intensity adjuster 120 may include a dimming mirror 122, an actuator 124 and a control module 126. The function of the dimming mirror 122 is to filter the light of various wavelength bands to reduce the intensity of the light received by the image sensor 110. In some embodiments, the light reduction mirror 122 is a variable ND filter. The processor 130 drives the control module 126 and the actuator 124 to control the dimming mirror 122 to correspondingly adjust the amount of light entering, such as adjusting the dimming coefficient of the dimming mirror 122. In some embodiments, the actuator 124 is an electric actuator, and the dimming mirror 122 is adjusted according to the instruction of the control module 126. In some embodiments, the light intensity adjuster 120 does not include the control module 126, and the actuator 124 is directly controlled by the processor 130.

回到第1A圖，處理器130與光強度調整器120連接，用以指示光強度調整器120調整入射至影像感測器110的光強度。處理器130可根據預估行進方向與太陽位置的相對角度關係，判斷陽光是否會直射影像感測器110而導致獲取的資料出現異常，並據此控制減光鏡122。Returning to FIG. 1A, the processor 130 is connected to the light intensity adjuster 120 to instruct the light intensity adjuster 120 to adjust the light intensity incident on the image sensor 110. The processor 130 can determine whether the sunlight will directly hit the image sensor 110 and cause an abnormality in the acquired data according to the relative angle relationship between the estimated traveling direction and the sun position, and control the dimming mirror 122 accordingly.

一般而言，自駕車在出發前會預先規劃好行車路徑。然而，自駕車在行駛過程中，必須根據當前位置及路況，即時規劃適用於當前情況的行車路徑。因此，實際行經的路徑可能會與事先規劃好的行車路徑不同，如第2A圖所示。在第2A圖中，自駕車A預先規劃好的行車路徑為預設行車路徑210，而實際行經的路徑則為真實路徑220。在一第一時間點(或稱當前時間點)時，自駕車A移動到一第一位置230，此時自駕車A的行進方向為第一行進方向250，同時，自駕車A會根據目前位置及路況規劃一估計路徑240。根據估計路徑240，可以得到自第一時間點經過一設定時間後，自駕車A在估計路徑240上的預估位置260，以及在預估位置260上的預估行進方向270。其中上述設定時間可以是但不限定為影像感測系統100之兩個取樣時間點的間隔，範圍自約25ms至約100ms。Generally speaking, a self-driving car will plan the driving route in advance before departure. However, during the driving process of a self-driving car, it is necessary to plan a driving route suitable for the current situation in real time according to the current location and road conditions. Therefore, the actual route traveled may be different from the pre-planned driving route, as shown in Figure 2A. In FIG. 2A, the pre-planned driving path of the self-driving car A is the preset driving path 210, and the actual path traveled is the real path 220. At a first time point (or the current time point), the self-driving car A moves to a first position 230. At this time, the traveling direction of the self-driving car A is the first traveling direction 250. At the same time, the self-driving car A will follow the current position And road condition planning an estimated path 240. According to the estimated path 240, the estimated position 260 of the self-driving car A on the estimated path 240 and the estimated direction of travel 270 on the estimated position 260 after a set time has elapsed since the first time point can be obtained. The above-mentioned set time can be, but is not limited to, the interval between two sampling time points of the image sensing system 100, and the range is from about 25ms to about 100ms.

處理器130可在第一時間點時，根據預估行進方向270與太陽位置的相對角度關係，判斷當自駕車移動到預估位置260時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。其中上述太陽位置包括太陽之仰角及方位角，可藉由通訊裝置170自當地氣象單位取得，或事先下載並儲存於儲存裝置140中以隨時存取。The processor 130 can determine at the first point in time, according to the relative angle relationship between the estimated travel direction 270 and the sun position, whether the sun will directly hit the image sensor 110 when the self-driving car moves to the estimated position 260 and cause the image sensor 110 to be captured. The data is abnormal. The position of the sun includes the elevation angle and the azimuth angle of the sun, which can be obtained from the local meteorological unit through the communication device 170, or downloaded and stored in the storage device 140 in advance for access at any time.

在一些實施例中，當影像感測器110面向太陽時，處理器130會判斷陽光直射影像感測器110，如第3A圖及第3B圖所示。第3A圖及第3B圖預設影像感測器110之指向與自駕車之行車方向相同。第3A圖為水平方向之示意圖，第3B圖則為垂直方向之示意圖。在第3A圖及第3B圖中，自駕車之位置為預估位置360a、自駕車之行進方向預估行進方向370a、太陽之位置則為太陽位置380a。在第3A圖中，太陽位在影像感測器110的前方，而在第3B圖中，太陽亦在影像感測器110的前方。因此，處理器130會判斷陽光直射影像感測器110。In some embodiments, when the image sensor 110 faces the sun, the processor 130 determines that direct sunlight hits the image sensor 110, as shown in FIGS. 3A and 3B. In FIGS. 3A and 3B, it is preset that the orientation of the image sensor 110 is the same as the driving direction of the self-driving car. Figure 3A is a schematic diagram in the horizontal direction, and Figure 3B is a schematic diagram in the vertical direction. In Figure 3A and Figure 3B, the position of the self-driving car is the estimated position 360a, the direction of travel of the self-driving car is the estimated direction of travel 370a, and the position of the sun is the sun position 380a. In Figure 3A, the sun is in front of the image sensor 110, and in Figure 3B, the sun is also in front of the image sensor 110. Therefore, the processor 130 determines that direct sunlight hits the image sensor 110.

在一些實施例中，處理器130可根據預設之夾角值來判斷陽光是否會直射影像感測器110。意即當太陽與影像感測器110之指向的夾角小於預設值時，處理器130才會判斷陽光直射影像感測器110。第3C圖及第3D圖預設影像感測器110之指向與自駕車之行車方向相同。第3C圖為水平方向之示意圖，第3D圖則為垂直方向之示意圖。在第3C圖及第3D圖中，自駕車之位置為預估位置360c、自駕車之行進方向為預估行進方向370c、太陽之位置為太陽位置380c、太陽與影像感測器110之指向的夾角則分別為夾角θc 及夾角θd 。其中夾角θc 為影像感測器110之指向與太陽位置間的偏向角，而夾角θd 為太陽位置相對於影像感測器110之指向的仰角。若夾角θc 小於在水平方向上的預設夾角值，且夾角θd 小於在垂直方向上的預設夾角值，則處理器130會判斷陽光直射影像感測器110。上述預設夾角值可藉由實驗來獲得。In some embodiments, the processor 130 may determine whether sunlight will directly hit the image sensor 110 according to a preset angle value. This means that when the angle between the sun and the image sensor 110 is smaller than the preset value, the processor 130 will determine that the direct sunlight is on the image sensor 110. 3C and 3D preset that the direction of the image sensor 110 is the same as the driving direction of the self-driving car. Figure 3C is a schematic diagram in the horizontal direction, and Figure 3D is a schematic diagram in the vertical direction. In Figure 3C and Figure 3D, the position of the self-driving car is the estimated position 360c, the direction of the self-driving car is the estimated direction of travel 370c, the position of the sun is the position of the sun 380c, and the direction of the sun and the image sensor 110 The included angles are the included angle θ c and the included angle θ d respectively . The included angle θ c is the deflection angle between the direction of the image sensor 110 and the sun position, and the included angle θ d is the elevation angle of the sun position relative to the direction of the image sensor 110. If the included angle θ c is less than the preset included angle value in the horizontal direction, and the included angle θ d is less than the preset included angle value in the vertical direction, the processor 130 will determine that the direct sunlight is on the image sensor 110. The above-mentioned preset angle value can be obtained through experiments.

在一些實施例中，處理器130可根據影像感測器110之視角來判斷陽光是否會直射影像感測器110。第3E圖及第3F圖預設影像感測器110之指向與自駕車之行車方向相同。第3E圖為水平方向之示意圖，第3F圖則為垂直方向之示意圖。在第3E圖及第3F圖中，自駕車之位置為預估位置360e、自駕車之行進方向為預估行進方向370e、太陽之位置為太陽位置380e、影像感測器110之視角為θ、太陽與影像感測器110之指向的夾角則分別為夾角θe 及夾角θf 。其中夾角θe 為影像感測器110之指向與太陽位置間的偏向角，而夾角θf 為太陽位置相對影像感測器110之指向的仰角。當水平方向的夾角θe 及垂直方向的夾角θf 皆小於影像感測器110之視角θ的一半時，處理器130就會判斷陽光直射影像感測器110。In some embodiments, the processor 130 can determine whether sunlight will directly hit the image sensor 110 according to the viewing angle of the image sensor 110. 3E and 3F preset the direction of the image sensor 110 to be the same as the driving direction of the self-driving car. Figure 3E is a schematic diagram in the horizontal direction, and Figure 3F is a schematic diagram in the vertical direction. In Figures 3E and 3F, the position of the self-driving car is the estimated position 360e, the traveling direction of the self-driving car is the estimated traveling direction 370e, the position of the sun is the sun position 380e, and the viewing angle of the image sensor 110 is θ, The angle between the sun and the direction of the image sensor 110 is the angle θ e and the angle θ f respectively . The included angle θ e is the deflection angle between the direction of the image sensor 110 and the sun position, and the included angle θ f is the elevation angle of the sun position relative to the direction of the image sensor 110. When the angle θ e in the horizontal direction and the angle θ f in the vertical direction are both less than half of the viewing angle θ of the image sensor 110, the processor 130 will determine that the direct sunlight is on the image sensor 110.

處理器130根據對陽光直射影像感測器110與否的判斷結果，調整光強度調整器120。舉例來說，若處理器130判斷當自駕車位於預估位置260時，陽光將會直射影像感測器110，則此時處理器130就會指示光強度調整器120預先調節減光鏡122以減少入射光強度。若處理器130判斷當自駕車位於預估位置260時，陽光將不會直射影像感測器110，則此時處理器130就會指示光強度調整器120預先調節減光鏡122，使減光鏡122不會減少進光量。The processor 130 adjusts the light intensity adjuster 120 according to the judgment result of whether direct sunlight is shining on the image sensor 110 or not. For example, if the processor 130 determines that when the self-driving car is at the estimated position 260, sunlight will directly hit the image sensor 110, then the processor 130 will instruct the light intensity adjuster 120 to pre-adjust the dimming mirror 122 to Reduce the intensity of incident light. If the processor 130 determines that when the self-driving car is at the estimated position 260, the sunlight will not directly hit the image sensor 110, then the processor 130 will instruct the light intensity adjuster 120 to pre-adjust the dimming mirror 122 to reduce the light The mirror 122 does not reduce the amount of light entering.

在一些實施例中，處理器130可與自駕車之處理器連接通訊。在其他實施例中，處理器130可為自駕車之處理器。In some embodiments, the processor 130 may communicate with the processor of the self-driving car. In other embodiments, the processor 130 may be a self-driving car processor.

現在參考第1A圖及第2A圖。在一些實施例中，當自駕車A於第一時間點位於第一位置230時，自駕車A的行進方向為第一行進方向250，此時處理器130獲取在第一時間點時，自駕車A的估計路徑240。處理器130根據自駕車A的估計路徑240，取得自第一時間點經過一設定時間後，自駕車A在估計路徑240上的預估位置260。接著，處理器130根據估計路徑240預估當自駕車A位於預估位置260時，自駕車A的預估行進方向270，並取得相對於預估位置260的太陽位置。隨後，處理器130根據預估行進方向270與太陽位置的相對角度關係，判斷當自駕車A移動到預估位置260時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。然後，處理器130根據上述判斷結果預先調整光強度調整器120。Refer now to Figures 1A and 2A. In some embodiments, when the self-driving car A is located at the first position 230 at the first time point, the traveling direction of the self-driving car A is the first traveling direction 250. At this time, the processor 130 obtains that the self-driving car A is at the first time point. Estimated path 240 of A. The processor 130 obtains the estimated position 260 of the self-driving car A on the estimated path 240 after a set time has elapsed since the first time point according to the estimated path 240 of the self-driving car A. Then, the processor 130 estimates the estimated traveling direction 270 of the self-driving car A when the self-driving car A is at the estimated position 260 according to the estimated path 240, and obtains the sun position relative to the estimated position 260. Subsequently, the processor 130 determines, according to the relative angle relationship between the estimated travel direction 270 and the sun position, whether the sun will directly hit the image sensor 110 when the self-driving car A moves to the estimated position 260 and cause abnormalities in the acquired data. Then, the processor 130 pre-adjusts the light intensity adjuster 120 according to the above judgment result.

在一些實施例中，使用者可藉由使用者介面150輸入目的地，使處理器130根據地圖資料規劃預設行車路徑210。上述地圖資料可藉由通訊裝置170取得，或事先下載並儲存於儲存裝置140中。在第一時間點時，處理器130可藉由定位裝置160獲取自駕車A的位置及行進方向，意即第一位置230及第一行進方向250。其中上述定位裝置160可為全球定位系統(Global Positioning System, GPS)、可使用即時動態定位技術(Real Time Kinematic, RTK)之裝置或其他可精確獲得當前位置與當前行進方向之裝置。處理器130可根據第一位置230、第一行進方向250、目的地位置及路況，規劃適合目前情況的行車路徑，意即估計路徑240。In some embodiments, the user can input the destination through the user interface 150, and the processor 130 can plan the predetermined driving route 210 according to the map data. The above-mentioned map data can be obtained through the communication device 170 or downloaded and stored in the storage device 140 in advance. At the first point in time, the processor 130 can obtain the position and the traveling direction of the self-driving car A through the positioning device 160, which means the first position 230 and the first traveling direction 250. The positioning device 160 may be a Global Positioning System (GPS), a device that can use Real Time Kinematic (RTK), or other devices that can accurately obtain the current position and the current direction of travel. The processor 130 can plan a driving route suitable for the current situation according to the first position 230, the first direction of travel 250, the destination position, and the road conditions, which means the estimated route 240.

處理器130根據自駕車A的估計路徑240，取得自第一時間點經過一設定時間後，自駕車A在估計路徑240上的預估位置260。接著，處理器130根據估計路徑240預估當自駕車A位於預估位置260時，自駕車A的預估行進方向270，並取得相對於預估位置260的太陽位置。隨後，處理器130根據預估行進方向270與太陽位置的相對角度關係，判斷當自駕車A移動到預估位置260時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。然後，處理器130根據上述判斷結果預先調整光強度調整器120。The processor 130 obtains the estimated position 260 of the self-driving car A on the estimated path 240 after a set time has elapsed since the first time point according to the estimated path 240 of the self-driving car A. Then, the processor 130 estimates the estimated traveling direction 270 of the self-driving car A when the self-driving car A is at the estimated position 260 according to the estimated path 240, and obtains the sun position relative to the estimated position 260. Subsequently, the processor 130 determines, according to the relative angle relationship between the estimated travel direction 270 and the sun position, whether the sun will directly hit the image sensor 110 when the self-driving car A moves to the estimated position 260 and cause abnormalities in the acquired data. Then, the processor 130 pre-adjusts the light intensity adjuster 120 according to the above judgment result.

參考第2B圖，在其他實施例中，處理器130與自駕車B的處理器連接，以取得自駕車B的預設行車路徑210。預設行車路徑210可在取得後儲存於儲存裝置140中。預設行車路徑210包括自出發地到目的地之整個行車路徑與行車時間，以及自駕車B在行車路徑的每個位置上的時間與行進方向。當自駕車B於第一時間點位於第一位置235時，自駕車B的行進方向為行進方向255。此時處理器130可自預設行車路徑210中，取得自第一時間點起將要行經的片段路徑作為估計路徑245，以及經過一設定時間後，自駕車B在估計路徑245上的預估位置265以及預估行進方向275。Referring to FIG. 2B, in other embodiments, the processor 130 is connected to the processor of the self-driving car B to obtain the preset driving route 210 of the self-driving car B. The preset driving route 210 can be stored in the storage device 140 after being obtained. The preset driving path 210 includes the entire driving path and driving time from the departure place to the destination, and the time and driving direction of the self-driving vehicle B at each position of the driving path. When the self-driving vehicle B is located at the first position 235 at the first time point, the traveling direction of the self-driving vehicle B is the traveling direction 255. At this time, the processor 130 may obtain the segment path to be traveled since the first time point from the preset driving path 210 as the estimated path 245, and the estimated position of the self-driving car B on the estimated path 245 after a set time has elapsed 265 and the estimated direction of travel 275.

接著，處理器130取得相對於預估位置265的太陽位置，並根據預估行進方向275與太陽位置的相對角度關係，判斷當自駕車B移動到預估位置265時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。然後，處理器130根據上述判斷結果預先調整光強度調整器120。Next, the processor 130 obtains the sun position relative to the estimated position 265, and determines whether the sun will directly shine on the image when the self-driving car B moves to the estimated position 265 according to the relative angle relationship between the estimated travel direction 275 and the sun position The data obtained by the detector 110 is abnormal. Then, the processor 130 pre-adjusts the light intensity adjuster 120 according to the above judgment result.

在某些實施例中，處理器130更進一步與照度計180連接，照度計180可量測太陽的照度。當處理器130判斷陽光會直射影像感測器110，並決定預先調整光強度調整器120後，處理器130可進一步根據照度計180的量測資料，調整光強度調整器120中，減光鏡122的減光程度。In some embodiments, the processor 130 is further connected to an illuminance meter 180, which can measure the illuminance of the sun. When the processor 130 determines that the sunlight will directly hit the image sensor 110 and decides to adjust the light intensity adjuster 120 in advance, the processor 130 can further adjust the light intensity adjuster 120 according to the measurement data of the illuminance meter 180. The dimming degree of 122.

舉例來說，以第2A圖為例，因為從第一位置230到預估位置260的時間間隔極短，因此處理器130可假設在第一位置230所量測到的太陽照度與在預估位置260所量測到的太陽照度相同。當處理器130在第一位置230時判斷當自駕車A移動到預估位置260時，陽光將會直射影像感測器110，並決定預先調整光強度調整器120後，處理器130可自照度計180取得太陽照度的量測結果，並以此結果作為調整光強度調整器120的依據。For example, taking Figure 2A as an example, because the time interval from the first position 230 to the estimated position 260 is extremely short, the processor 130 may assume that the measured solar illuminance at the first position 230 is different from the estimated The solar illuminance measured at position 260 is the same. When the processor 130 is at the first position 230, it is determined that when the self-driving car A moves to the estimated position 260, the sunlight will directly shine on the image sensor 110, and after it decides to adjust the light intensity adjuster 120 in advance, the processor 130 can self-illuminate The meter 180 obtains the measurement result of the solar illuminance, and uses the result as a basis for adjusting the light intensity adjuster 120.

在其他範例中，當處理器130在第一位置230時判斷當自駕車A移動到預估位置260時，陽光將會直射影像感測器110，並決定預先調整光強度調整器120後，處理器130會先調整光強度調整器120。等到自駕車A到達預估位置260後，處理器130會再根據於預估位置260所量測的太陽照度，修正光強度調整器120的減光程度。In another example, when the processor 130 is at the first position 230, it is determined that when the self-driving car A moves to the estimated position 260, the sunlight will directly shine on the image sensor 110, and it decides to adjust the light intensity adjuster 120 beforehand. The controller 130 adjusts the light intensity adjuster 120 first. After the self-driving car A reaches the estimated position 260, the processor 130 will then correct the dimming degree of the light intensity adjuster 120 according to the solar illuminance measured at the estimated position 260.

使用者可利用使用者介面150直接對影像感測系統100下達指令。舉例來說，使用者可輸入目的地以使處理器130代為執行自駕車處理器之功能。使用者亦可藉由使用者介面150直接控制光強度調整器120，或是改變影像感測器110之參數(例如：影像感測器之指向或是焦距)。使用者介面150可包括鍵盤、麥克風、觸碰偵測與處理電路、指向裝置(例如：滑鼠)等。The user can use the user interface 150 to directly issue commands to the image sensing system 100. For example, the user can input a destination to make the processor 130 perform the function of the self-driving car processor on its behalf. The user can also directly control the light intensity adjuster 120 through the user interface 150, or change the parameters of the image sensor 110 (for example, the orientation or focal length of the image sensor). The user interface 150 may include a keyboard, a microphone, a touch detection and processing circuit, a pointing device (such as a mouse), and so on.

第4圖係根據本揭露一些實施例所示，調控影像感測系統之方法400的流程圖。於操作410中，處理器130獲取在第一時間點時，自駕車的估計路徑。於操作420中，處理器130根據自駕車的估計路徑，取得自第一時間點經過一設定時間後，自駕車在估計路徑上的預估位置。其中上述設定時間可以是但不限定為影像感測系統100之兩個取樣時間點的間隔，範圍自約25ms至約100ms。於操作430中，處理器130根據估計路徑預估當自駕車位於預估位置時，自駕車的預估行進方向。隨後於操作440中，處理器130取得相對於預估位置的太陽位置。其中上述太陽位置包括太陽之仰角及方位角，可自當地氣象單位取得或事先下載並儲存以隨時存取。FIG. 4 is a flowchart of a method 400 for adjusting and controlling an image sensing system according to some embodiments of the present disclosure. In operation 410, the processor 130 obtains the estimated path of the self-driving car at the first point in time. In operation 420, the processor 130 obtains the estimated position of the self-driving car on the estimated path after a set time has elapsed since the first time point according to the estimated path of the self-driving car. The above-mentioned set time can be, but is not limited to, the interval between two sampling time points of the image sensing system 100, and the range is from about 25ms to about 100ms. In operation 430, the processor 130 estimates the estimated traveling direction of the self-driving car when the self-driving car is at the estimated position according to the estimated path. Subsequently, in operation 440, the processor 130 obtains the sun position relative to the estimated position. The position of the sun mentioned above includes the elevation angle and azimuth angle of the sun, which can be obtained from the local meteorological unit or downloaded and stored in advance for access at any time.

於操作450中，處理器130根據預估行進方向與太陽位置的相對角度關係，判斷當自駕車移動到預估位置時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。於操作460中，處理器130根據操作450之判斷結果預先調整光強度調整器。隨後，回到操作410並重複整個方法400，處理器130在自駕車行駛期間不斷重複執行方法400。In operation 450, the processor 130 determines, based on the relative angle relationship between the estimated traveling direction and the sun position, whether sunlight will directly hit the image sensor 110 and cause abnormalities in the acquired data when the self-driving car moves to the estimated position. In operation 460, the processor 130 pre-adjusts the light intensity adjuster according to the judgment result of operation 450. Subsequently, returning to operation 410 and repeating the entire method 400, the processor 130 repeatedly executes the method 400 during the driving of the self-driving vehicle.

第5圖係根據本揭露一些實施例所示，調控影像感測系統之方法500的流程圖。於操作510中，處理器130根據目的地計算預設行車路徑。於操作520中，處理器130藉由定位裝置取得在第一時間點時，自駕車的第一位置及第一行進方向。其中上述定位裝置可為GPS、RTK裝置或其他可精確獲得當前位置與當前行進方向之裝置。於操作530中，處理器130根據上述第一位置、上述第一行進方向、目的地位置及路況，規劃在第一時間點時，自駕車的估計路徑。於操作540中，處理器130根據自駕車的估計路徑，取得自第一時間點經過一設定時間後，自駕車在估計路徑上的預估位置。於操作550中，處理器130根據估計路徑預估當自駕車位於預估位置時，自駕車的預估行進方向。隨後於操作560中，處理器130取得相對於預估位置的太陽位置。FIG. 5 is a flowchart of a method 500 for adjusting and controlling an image sensing system according to some embodiments of the present disclosure. In operation 510, the processor 130 calculates a preset driving route according to the destination. In operation 520, the processor 130 obtains the first position and the first traveling direction of the self-driving car at the first time point through the positioning device. The above-mentioned positioning device may be a GPS, RTK device or other device that can accurately obtain the current position and the current direction of travel. In operation 530, the processor 130 plans the estimated path of the self-driving car at the first time point according to the first position, the first direction of travel, the destination position, and the road conditions. In operation 540, the processor 130 obtains the estimated position of the self-driving car on the estimated path after a set time has elapsed since the first time point according to the estimated path of the self-driving car. In operation 550, the processor 130 estimates the estimated traveling direction of the self-driving car when the self-driving car is at the estimated position according to the estimated path. Subsequently, in operation 560, the processor 130 obtains the sun position relative to the estimated position.

於操作570中，處理器130根據預估行進方向與太陽位置的相對角度關係，判斷當自駕車移動到預估位置時，陽光是否會直射影像感測器110而導致獲取的資料出現異常。於操作580中，處理器130根據操作570之判斷結果調整光強度調整器。隨後，回到操作510並重複整個方法500。在其他實施例中，則是回到操作520並重複操作520至操作580。處理器130在自駕車行駛期間不斷重複執行方法500。In operation 570, the processor 130 determines, based on the relative angle relationship between the estimated traveling direction and the sun position, whether sunlight will directly hit the image sensor 110 and cause abnormalities in the acquired data when the self-driving car moves to the estimated position. In operation 580, the processor 130 adjusts the light intensity adjuster according to the judgment result of operation 570. Subsequently, return to operation 510 and repeat the entire method 500. In other embodiments, return to operation 520 and repeat operation 520 to operation 580. The processor 130 repeatedly executes the method 500 during the driving of the self-driving car.

第6圖係根據本揭露一些實施例所示，調控影像感測系統之方法600的流程圖。於操作610中，處理器130首先取得自駕車的預設行車路徑。上述預設行車路徑包括自出發地到目的地之整個行車路徑與行車時間，以及自駕車在行車路徑的每個位置上的時間與行進方向。於操作620中，處理器130可自上述預設行車路徑中，取得自第一時間點起將要行經的片段路徑作為估計路徑。於操作630中，處理器130自上述預設行車路徑中，取得自第一時間點經過一設定時間後，自駕車在估計路徑上的預估位置以及預估行進方向。隨後於操作640中，處理器130取得相對於預估位置的太陽位置。於操作650中，處理器130根據預估行進方向與太陽位置的相對角度關係，判斷陽光是否會直射影像感測器110而導致獲取的資料出現異常。於操作660中，處理器130根據操作650之判斷結果調整光強度調整器。隨後，回到操作610並重複整個方法600。在其他實施例中，則是回到操作620並重複操作620至操作660。處理器130在自駕車行駛期間不斷重複執行方法600。FIG. 6 is a flowchart of a method 600 for adjusting and controlling an image sensing system according to some embodiments of the present disclosure. In operation 610, the processor 130 first obtains a preset driving route of the self-driving vehicle. The aforementioned preset driving path includes the entire driving path and driving time from the departure place to the destination, as well as the time and direction of travel of the self-driving vehicle at each position of the driving path. In operation 620, the processor 130 may obtain the segment path to be traveled from the first time point from the above-mentioned preset driving path as the estimated path. In operation 630, the processor 130 obtains the estimated position and the estimated direction of travel of the self-driving car on the estimated route after a set time has elapsed since the first time point from the above-mentioned preset driving route. Subsequently, in operation 640, the processor 130 obtains the sun position relative to the estimated position. In operation 650, the processor 130 determines whether sunlight will directly hit the image sensor 110 and cause an abnormality in the acquired data according to the relative angle relationship between the estimated traveling direction and the sun position. In operation 660, the processor 130 adjusts the light intensity adjuster according to the judgment result of operation 650. Subsequently, return to operation 610 and repeat the entire method 600. In other embodiments, return to operation 620 and repeat operations 620 to 660. The processor 130 repeatedly executes the method 600 during the driving of the self-driving car.

在某些實施例中，方法400、方法500及方法600更包括一測光操作(未圖示)。於測光操作中，處理器130連接照度計180以取得陽光的照度。隨後，處理器130會根據陽光的照度調整光強度調整器120。In some embodiments, the method 400, the method 500, and the method 600 further include a photometry operation (not shown). In the light metering operation, the processor 130 is connected to the illuminance meter 180 to obtain the illuminance of sunlight. Subsequently, the processor 130 adjusts the light intensity adjuster 120 according to the illuminance of the sunlight.

舉例來說，因為上述設定時間極短，因此處理器130可假設在第一時間點所量測到的太陽照度與在預估位置所量測到的太陽照度相同。當處理器130在第一時間點判斷當自駕車移動到預估位置時，陽光將會直射影像感測器110，並決定預先調整光強度調整器120後，處理器130可自照度計180取得太陽照度的量測結果，並以此結果作為調整光強度調整器120的依據。For example, because the above-mentioned set time is extremely short, the processor 130 may assume that the solar illuminance measured at the first time point is the same as the solar illuminance measured at the estimated position. When the processor 130 determines at the first time point that when the self-driving car moves to the estimated position, the sunlight will directly shine on the image sensor 110, and after it decides to adjust the light intensity adjuster 120 in advance, the processor 130 can obtain from the illuminance meter 180 The measurement result of the solar illuminance is used as the basis for adjusting the light intensity adjuster 120.

在其他範例中，當處理器130在第一時間點判斷當自駕車移動到預估位置時，陽光將會直射影像感測器110，並決定預先調整光強度調整器120後，處理器130會先調整光強度調整器120。等到自駕車A到達預估位置後，處理器130會再根據於預估位置所量測的太陽照度，修正光強度調整器120的減光程度。In other examples, when the processor 130 determines at the first time point that when the self-driving car moves to the estimated position, the sunlight will directly hit the image sensor 110, and after it decides to adjust the light intensity adjuster 120 in advance, the processor 130 will Adjust the light intensity adjuster 120 first. After the self-driving car A reaches the estimated position, the processor 130 will then correct the dimming degree of the light intensity adjuster 120 according to the solar illuminance measured at the estimated position.

上述方法400、方法500及方法600之執行，可由處理器130載入並執行程式而為之。The execution of the above-mentioned method 400, method 500, and method 600 can be performed by the processor 130 loading and executing programs.

須注意的是，上述實施例皆預設影像感測器110的指向與自駕車的行進方向相同，然而，實際上影像感測器110的指向與自駕車的行進方向並不一定相同。因此，對陽光是否會直射影像感測器110的判斷，應根據影像感測器110的實際指向來進行。影像感測系統100於設置時，即能得知影像感測器110的指向與自駕車行進方向(車身正前方)的相對角度關係。因此，根據行進方向與太陽位置的相對角度關係，以及影像感測器110的指向與自駕車行進方向的相對角度關係，即能求得影像感測器110的指向與太陽位置的相對角度關係，並以此判斷陽光是否會直射影像感測器110。It should be noted that in the above embodiments, it is assumed that the direction of the image sensor 110 is the same as the direction of travel of the self-driving car. However, in fact, the direction of the image sensor 110 is not necessarily the same as the direction of travel of the self-driving car. Therefore, the determination of whether sunlight will directly hit the image sensor 110 should be made according to the actual orientation of the image sensor 110. When the image sensor system 100 is set up, the relative angle relationship between the direction of the image sensor 110 and the traveling direction of the self-driving vehicle (right in front of the vehicle body) can be known. Therefore, according to the relative angular relationship between the direction of travel and the position of the sun, and the relative angular relationship between the direction of the image sensor 110 and the direction of travel of the self-driving car, the relative angular relationship between the direction of the image sensor 110 and the position of the sun can be obtained. Based on this, it is determined whether sunlight will directly hit the image sensor 110.

進一步來說，自駕車可設置多組影像感測系統100及/或影像感測器110。因此，陽光是否會直射影像感測器110，應交由個別影像感測系統100判斷，或根據個別影像感測器110之指向來判斷。Furthermore, a self-driving car can be equipped with multiple sets of image sensing systems 100 and/or image sensors 110. Therefore, whether sunlight will directly hit the image sensor 110 should be determined by the individual image sensor system 100, or judged according to the direction of the individual image sensor 110.

此外，上述實施例皆以自駕車為例係為使說明清晰易懂。實際上，本揭露可應用於自駕車、無人飛行載具或其他任何具有自動駕駛功能之機動載具。In addition, the foregoing embodiments all take self-driving cars as an example to make the description clear and easy to understand. In fact, the present disclosure can be applied to self-driving cars, unmanned aerial vehicles, or any other motorized vehicles with automatic driving functions.

前述內文概述多項實施例或範例之特徵，如此可使於本技術領域中具有通常知識者更佳地瞭解本揭露。本技術領域中具有通常知識者應當理解他們可輕易地以本揭露為基礎設計或修改其他製程及結構，以完成相同之目的及/或達到與本文介紹之實施例或範例相同之優點。本技術領域中具有通常知識者亦需理解，這些等效結構並未脫離本揭露之精神及範圍，且在不脫離本揭露之精神及範圍之情況下，可對本揭露進行各種改變、置換以及變更。The foregoing text summarizes the features of a number of embodiments or examples, so that those skilled in the art can better understand the present disclosure. Those skilled in the art should understand that they can easily design or modify other processes and structures based on this disclosure to accomplish the same purpose and/or achieve the same advantages as the embodiments or examples introduced herein. Those with ordinary knowledge in the art should also understand that these equivalent structures do not depart from the spirit and scope of this disclosure, and various changes, substitutions and alterations can be made to this disclosure without departing from the spirit and scope of this disclosure. .

100:影像感測系統110:影像感測器120:光強度調整器122:減光鏡124:致動器126:控制模組130:處理器140:儲存裝置150:使用者介面160:定位裝置170:通訊裝置180:照度計210:預設行車路徑220:真實路徑230:第一位置240:估計路徑250:第一行進方向260:預估位置270:預估行進方向235:第一位置245:估計路徑255:第一行進方向265:預估位置275:預估行進方向360a:預估位置370a:預估行進方向380a:太陽位置360c:預估位置370c:預估行進方向380c:太陽位置θc、θd:夾角360e:預估位置370e:預估行進方向380e:太陽位置θe、θf:夾角θ:視角400:方法410-460:操作500:方法510-580:操作600:方法610-660:操作100: Image sensing system 110: Image sensor 120: Light intensity adjuster 122: Reducer 124: Actuator 126: Control module 130: Processor 140: Storage device 150: User interface 160: Positioning device 170: Communication device 180: Illuminance meter 210: Default driving path 220: Real path 230: First position 240: Estimated path 250: First direction of travel 260: Estimated position 270: Estimated direction of travel 235: First position 245 : Estimated path 255: First direction of travel 265: Estimated position 275: Estimated direction of travel 360a: Estimated position 370a: Estimated direction of travel 380a: Sun position 360c: Estimated position 370c: Estimated direction of travel 380c: Sun position θ c, θ d: the angle 360E: estimated position 370e: estimated travel direction 380E: sun position θ e, θ f: the angle [theta]: angle 400: 410-460 method: operation 500: 510-580 method: operation 600: Method 610-660: Operation

本揭露從後續實施方式及附圖可更佳理解。須強調的是，依據產業之標準作法，各種特徵並未按比例繪製，並僅用於說明之目的。事實上，各種特徵之尺寸可能任意增加或減少以清楚論述。亦須強調的是，所附之附圖僅出示本揭露之典型實施例，不應認為是對範圍之限制，因為本揭露亦可適用於其他實施例。 第1A圖係根據本揭露實施例所示之影像感測系統之方塊圖。 第1B圖係根據本揭露實施例所示之光強度調整器之方塊圖。 第2A圖係根據本揭露實施例所示，自駕車之行車路徑示意圖。 第2B圖係根據本揭露實施例所示，自駕車之行車路徑示意圖。 第3A圖係根據本揭露實施例所示，自駕車與太陽在水平方向上的相對位置。 第3B圖係根據本揭露實施例所示，自駕車與太陽在垂直方向上的相對位置。 第3C圖係根據本揭露實施例所示，自駕車與太陽在水平方向上的相對位置。 第3D圖係根據本揭露實施例所示，自駕車與太陽在垂直方向上的相對位置。 第3E圖係根據本揭露實施例所示，自駕車與太陽在水平方向上的相對位置。 第3F圖係根據本揭露實施例所示，自駕車與太陽在垂直方向上的相對位置。 第4圖係根據本揭露實施例所示，調控影像感測系統之方法的流程圖。 第5圖係根據本揭露實施例所示，調控影像感測系統之方法的流程圖。 第6圖係根據本揭露實施例所示，調控影像感測系統之方法的流程圖。This disclosure can be better understood from the subsequent embodiments and the accompanying drawings. It should be emphasized that according to industry standard practices, various features are not drawn to scale and are used for illustrative purposes only. In fact, the size of various features may be increased or decreased arbitrarily for clear discussion. It should also be emphasized that the accompanying drawings only show typical embodiments of the present disclosure, and should not be considered as limiting the scope, because the present disclosure can also be applied to other embodiments. FIG. 1A is a block diagram of the image sensing system according to an embodiment of the disclosure. FIG. 1B is a block diagram of the light intensity adjuster according to an embodiment of the disclosure. FIG. 2A is a schematic diagram of the driving route of a self-driving car according to an embodiment of the present disclosure. FIG. 2B is a schematic diagram of the driving route of a self-driving car according to an embodiment of the present disclosure. FIG. 3A shows the relative position of the self-driving car and the sun in the horizontal direction according to the embodiment of the present disclosure. FIG. 3B shows the relative position of the self-driving car and the sun in the vertical direction according to the embodiment of the present disclosure. Figure 3C shows the relative position of the self-driving car and the sun in the horizontal direction according to the embodiment of the disclosure. The 3D diagram shows the relative position of the self-driving car and the sun in the vertical direction according to the embodiment of the present disclosure. FIG. 3E shows the relative position of the self-driving car and the sun in the horizontal direction according to the embodiment of the present disclosure. Figure 3F shows the relative position of the self-driving car and the sun in the vertical direction according to the embodiment of the disclosure. FIG. 4 is a flowchart of a method for adjusting and controlling an image sensing system according to an embodiment of the present disclosure. FIG. 5 is a flowchart of a method for adjusting and controlling an image sensing system according to an embodiment of the present disclosure. FIG. 6 is a flowchart of a method for adjusting and controlling an image sensing system according to an embodiment of the disclosure.

400:方法 400: method

410-460:操作 410-460: Operation

Claims (11)

一種調控影像感測系統的方法，上述影像感測系統設置於一交通載具且上述影像感測系統包括光強度調整器，上述方法包括：在一第一時間點取得上述交通載具的一估計路徑；得出從上述第一時間點經過一設定時間後上述交通載具在上述估計路徑上的一預估位置；依據上述估計路徑預估上述交通載具於上述預估位置時的預估行進方向；自氣象單位取得當地的太陽相關位置，並自上述太陽相關位置取得相對於上述預估位置的太陽位置；以及依據上述預估位置之上述預估行進方向與上述太陽位置的相對角度關係，預先調整上述光強度調整器。 A method for adjusting and controlling an image sensing system. The image sensing system is set on a traffic vehicle and the image sensing system includes a light intensity adjuster. The method includes: obtaining an estimate of the traffic vehicle at a first time point Path; obtain an estimated position of the traffic vehicle on the estimated path after a set time has elapsed from the first time point; estimate the estimated travel of the traffic vehicle at the estimated position based on the estimated path Direction; obtain the local sun-related position from the meteorological unit, and obtain the sun position relative to the above-mentioned estimated position from the above-mentioned sun-related position; and the relative angular relationship between the above-mentioned estimated travel direction and the above-mentioned sun position based on the above-mentioned estimated position, Adjust the above-mentioned light intensity adjuster in advance. 如申請專利範圍第1項所述之調控影像感測系統的方法，其中上述估計路徑為根據在上述第一時間點時，上述交通載具的真實位置所即時計算的路徑。 According to the method for adjusting and controlling an image sensing system as described in claim 1, wherein the estimated path is a path calculated in real time based on the real position of the traffic vehicle at the first time point. 如申請專利範圍第1項所述之調控影像感測系統的方法，其中上述估計路徑為上述交通載具至上述第一時間點時，上述交通載具於其一預設行動路徑中尚未經過的一片段路徑。 The method for regulating and controlling an image sensing system as described in item 1 of the scope of patent application, wherein the estimated path is the one that has not passed by the traffic vehicle in one of the preset movement paths when the traffic vehicle reaches the first time point A fragment path. 如申請專利範圍第1項所述之調控影像感測系統的方法，其中上述設定時間為上述影像感測系統之兩個取樣時間點的間隔。 The method for adjusting and controlling an image sensing system as described in the first item of the scope of the patent application, wherein the set time is the interval between two sampling time points of the image sensing system. 如申請專利範圍第1項所述之調控影像感測系統的方法，更進一步依據上述預估行進方向與上述太陽位置決定上述交通載具與太陽的偏向角以及仰角，而據以調整上述光強度調整器。 According to the method for adjusting the image sensing system described in item 1 of the scope of patent application, the deflection angle and elevation angle of the traffic vehicle and the sun are further determined based on the predicted direction of travel and the sun position, and the light intensity is adjusted accordingly Adjuster. 一種影像感測系統，設置於一交通載具，上述影像感測系統包括：一影像感測器，用於獲取影像；一光強度調整器，用於調整入射上述影像感測器之入射光強度；一處理器，進行以下的操作：在一第一時間點取得上述交通載具的一估計路徑；得出從上述第一時間點經過一設定時間後上述交通載具在上述估計路徑上的一預估位置；依據上述估計路徑預估上述交通載具於上述預估位置時的預估行進方向；自氣象單位取得當地的太陽相關位置，並自上述太陽相關位置取得相對於上述預估位置的太陽位置；以及依據上述預估位置之上述預估行進方向與上述太陽位置的相對角度關係，預先調整上述光強度調整器。 An image sensing system is arranged on a traffic vehicle. The image sensing system includes: an image sensor for acquiring images; a light intensity adjuster for adjusting the intensity of incident light incident on the image sensor A processor that performs the following operations: obtains an estimated path of the traffic vehicle at a first time point; obtains an estimated path of the traffic vehicle on the estimated path after a set time has elapsed from the first time point Estimated position; estimate the estimated direction of travel of the above-mentioned traffic vehicle at the above-mentioned estimated position based on the above-mentioned estimated path; obtain the local sun-related position from the meteorological unit, and obtain the above-mentioned estimated position from the above-mentioned sun-related position The position of the sun; and the light intensity adjuster is adjusted in advance based on the relative angle relationship between the estimated travel direction of the estimated position and the position of the sun. 如申請專利範圍第6項所述之影像感測系統，其中上述處理器基於上述交通載具在上述第一時間點時的位置及移動狀態進行即時計算而得出上述估計路徑。 According to the image sensing system described in item 6 of the scope of patent application, the processor performs real-time calculation based on the position and movement state of the traffic vehicle at the first time point to obtain the estimated path. 如申請專利範圍第6項所述之影像感測系統，其中上述處理器從上述交通載具的一預設行動路徑中，擷取上述交通載具 從上述第一時間點時起將要行經的一片段路徑作為上述估計路徑。 The image sensing system as described in item 6 of the scope of patent application, wherein the processor extracts the traffic vehicle from a predetermined movement path of the traffic vehicle A segment path to be traveled from the first time point is used as the estimated path. 如申請專利範圍第6項所述之影像感測系統，其中：上述影像感測器為相機；上述光強度調整器包括一致動器及一減光鏡；以及上述處理器控制上述致動器進而調整上述減光鏡。 The image sensing system described in item 6 of the scope of patent application, wherein: the image sensor is a camera; the light intensity adjuster includes an actuator and a dimming mirror; and the processor controls the actuator and then Adjust the above-mentioned dimmer. 如申請專利範圍第6項所述之影像感測系統，更包括一儲存裝置，用於儲存一預設行動路徑及上述太陽位置資料。 The image sensing system described in item 6 of the scope of patent application further includes a storage device for storing a preset movement path and the above-mentioned sun position data. 如申請專利範圍第6項所述之影像感測系統，更包括一使用者介面，以供使用者直接對上述影像感測系統下達指令。 The image sensing system described in item 6 of the scope of patent application further includes a user interface for the user to directly issue commands to the image sensing system.
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