Auto exposure using multiple cameras and map prior information

A system for adjusting an exposure setting, the system comprising:

• one or more processors;
• and
• a computer-readable medium comprising instructions stored therein, which when executed by the processors, cause the processors to perform operations comprising:
• determining a localization parameter of an autonomous vehicle along a predetermined path of travel, the localization parameter including a geographic position of the autonomous vehicle;
• determining geographic positions of structures and direction of sunlight proximate to the geographic position of the autonomous vehicle along the redetermined bath of travel;
• determining shadows cast by the structures and the sunlight that overshadow a region of interest along the predetermined path of travel of the autonomous vehicle prior to the autonomous vehicle entering a region of the shadows cast by the structures that overshadow the region of interest;
• determining an exposure setting of a first camera for the region of interest based on the shadows cast by the structures and the sunlight that overshadow the region of interest and a directional orientation of the first camera prior to of the autonomous vehicle entering the region of the shadows cast by the structures and the sunlight that overshadow the region of interest;
• and
• adjusting a first image of the first camera to the determined exposure setting for the region of interest based on the shadows cast by the structures and the sunlight that overshadow the region of interest and the directional orientation of the first camera proximate to the autonomous vehicle entering the region of the shadows cast by the structures and the sunlight that overshadow the region of interest.

A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations comprising:

• determining a localization parameter of an autonomous vehicle along a predetermined path of travel, the localization parameter including a geographic position of the autonomous vehicle;
• determining geographic positions of structures and direction of sunlight proximate to the geographic position of the autonomous vehicle along the predetermined path of travel;
• determining shadows cast by the structures and the sunlight that overshadow a region of interest along the predetermined path of travel of the autonomous vehicle prior to the autonomous vehicle entering a region of the shadows cast by the structures that overshadow the region of interest;
• determining an exposure setting of a first camera for the region of interest based on the shadows cast by the structures and the sunlight that overshadow the region of interest and a directional orientation of the first camera prior to the autonomous vehicle entering the region of the shadows cast by the structures and the sunlight that overshadow the region of interest;
• and
• adjusting a first image of the first camera to the determined exposure setting for the region of interest based on the shadows cast by the structures and the sunlight that overshadow the region of interest and the directional orientation of the first camera proximate to the autonomous vehicle entering the region of the shadows cast by the structures and the sunlight that overshadow the region of interest.