Automatic angle adjusting and angle metering method and equipment for automobile rearview mirror

Abstract

The invention discloses an automobile rearview mirror angle automatic adjusting and angle metering method and device, and belongs to the field of automobile rearview mirror automatic adjusting.The method comprises the following steps that coordinates of the head position and the eye position of a driver are obtained, and the eye height of the driver is obtained through the eye movement tracking technology; calculating an optimal reference angle of the rearview mirror according to the height of the eye position, and taking the optimal reference angle as a reference angle theta base of the rearview mirror; the head action of a driver and the dynamic state of a vehicle are sensed in real time through sensor data, data of various sensors are integrated through a fusion algorithm, the fused head angle of the driver, vehicle body posture information and adjustment gain factors are obtained, and the angle of a rearview mirror is dynamically adjusted according to the information. And the driver can always obtain the optimal view angle through closed-loop feedback and a self-calibration mechanism. By means of a personalized adjusting mode, it is ensured that a driver can always see the road condition behind at the most comfortable position.

Description

Technical Field

[0001] The invention relates to the field of automatic adjustment of automobile rearview mirrors, and in particular to a method and equipment for automatic adjustment and angle measurement of automobile rearview mirrors. Background Art

[0002] In traditional automobile rearview mirror adjustment technology, drivers usually need to manually adjust the rearview mirror to ensure that the rearview mirror can provide the best field of view. However, this manual adjustment method has several obvious disadvantages: The viewing angle cannot be automatically adapted: The adjustment of traditional rearview mirrors is usually based on the driver's personal experience or initial setting, and cannot be automatically adjusted in real time according to the driver's dynamic changes (such as head posture, seat position, etc.). This results in the driver not being able to obtain the most ideal rearview mirror viewing angle in different driving scenarios. Poor adjustment flexibility: The existing rearview mirror adjustment method is relatively simple and lacks intelligent perception and automatic adjustment capabilities. The driver needs to frequently adjust the rearview mirror angle to adapt to different driving conditions (such as turning, high-speed driving, etc.), which increases the complexity and inconvenience of driving operations. In addition, factors such as the driver's eye position, head posture, and seat adjustment affect the effective viewing angle of the rearview mirror. Especially during long-term driving, the adjustment of the driver's head or seat may cause the rearview mirror viewing angle to no longer adapt, affecting driving safety. At the same time, the existing rearview mirror adjustment system usually does not have a real-time dynamic correction and feedback mechanism, which may cause the rearview mirror angle to deviate during driving, affecting the driver's field of view and safety. Summary of the invention

[0003] One of the purposes of the present invention is to provide a method for automatically adjusting and measuring the angle of a vehicle rearview mirror, and to solve the shortcomings of the prior art that the vehicle rearview mirror does not have a real-time dynamic correction and feedback mechanism, which affects the driver's field of vision and safety.

[0004] The present invention is implemented by the following technical scheme: a method for automatically adjusting and measuring the angle of a rearview mirror of an automobile, comprising: S100, installing an infrared camera at the same position of an infrared sensor array, coupling the infrared sensor array and the infrared camera, emitting infrared light to illuminate the eyes, capturing the position of the iris of the eyes by the infrared camera, analyzing the eye movement in combination with the data collected by the infrared sensor array to obtain the specific coordinates of the eyes on the three-dimensional coordinates of the head, obtaining the coordinates of the driver's head position and eye position by three-dimensional positioning technology, obtaining the driver's eye height by eye tracking technology, calculating the optimal reference angle of the rearview mirror according to the height of the eye position, and using the optimal reference angle as the reference angle θ of the rearview mirror. base; S200. When the car is started, the driver's head movement and vehicle dynamic state are perceived in real time through sensor data. The data of multiple sensors are integrated through a fusion algorithm to obtain the fused driver's head angle and vehicle body posture information and adjustment gain factor, and the rearview mirror angle is dynamically adjusted based on this information; S300. A closed-loop feedback and self-calibration mechanism is used to ensure that the driver can always obtain the optimal viewing angle. The adjustment error is evaluated based on the difference between the feedback information and the final rearview mirror angle. When the adjustment of the rearview mirror deviates too much from the expected value, it is considered that there is an error. At this time, the self-calibration mechanism is started to fine-tune the angle of the rearview mirror in time based on historical feedback and sensor data.

[0005] Furthermore, the optimal reference angle is the angle at which the driver's line of sight matches the reflection angle of the rearview mirror, which is calculated by the following method: S110, the coordinates of the eye are P eye = (x eye , y eye , z eye ) The coordinates of the rearview mirror are P mirror =(x mirror , y mirror , z mirror ), the initial reference angle θ between the rearview mirror and the eye is calculated by the following formula: , where θ is the initial reference angle of the rearview mirror, in degrees; x eye is the horizontal coordinate of the driver's eyes, y eye is the vertical coordinate of the driver's eyes; x mirror is the horizontal coordinate of the rearview mirror, y mirror is the vertical coordinate of the rearview mirror; S120, after obtaining the initial reference angle θ, the change information of the seat height and the tilt angle is obtained by the sensor installed on the driver's seat, and the seat change information function is constructed according to the change information, so as to dynamically correct the rearview mirror to obtain the optimal angle θ of the rearview mirror adjusted : , where f(h seat , p seat ) is the seat change information function, which is used to adjust the angle of the rearview mirror according to the change of the seat; h seat is the height of the seat, p seat For the front and rear position of the seat.

[0006] Furthermore, the driver's head movements and the dynamic state of the vehicle are perceived in real time through sensor data. The sensors include an accelerometer for detecting the inclination angle of the driver's head; a gyroscope for detecting the rotation changes of the vehicle body; a vehicle posture sensor for detecting the pitch angle and roll angle of the vehicle and the dynamic changes of the vehicle body; and a seat position sensor for detecting the vertical and front and rear positions of the seat.

[0007] Further, step 200 includes the following sub-steps: S210, first filtering the source data of the sensor based on Kalman filtering, and obtaining the optimal state prediction through Kalman filtering; S220, fusing the source data of the sensor according to the state prediction to obtain a head-body posture state estimation value, and the state prediction fusing the source data of the sensor includes: detecting the tilt angle of the head through accelerometer data to obtain a head angle estimation, and estimating the overall posture of the driver's head according to the optimal state prediction combined with the accelerometer data; fusing the vehicle speed sensor data and the suspension system sensor data to obtain the body sensor data, and combining the body sensor data with the overall posture data of the driver's head, and fusing through Kalman filtering to obtain the head-body posture state estimation value; S230, based on the output state of the Kalman filter, taking into account the seat position at the same time, and using a weighted formula to calculate the rearview mirror angle, and the weighted formula calculation includes: the pitch angle of the driver's head after fusion is θ head , the pitch angle of the vehicle body is θ vehicle , the seat adjustment angle is θ seat , then the final rearview mirror angle θ mirror The weighted formula is: , where θ base is the reference angle of the rearview mirror, α1, α2, α3 are weight coefficients of different factors, and these coefficients can be dynamically adjusted according to the optimal state obtained by Kalman filtering.

[0008] Furthermore, the closed-loop feedback includes driver input feedback and automatic monitoring feedback. The driver input feedback includes the driver confirming whether the rearview mirror is adjusted to a suitable position through the vehicle's central control screen, voice commands, or the driver manually fine-tuning the rearview mirror; the automatic monitoring feedback determines whether the adjustment effect of the rearview mirror meets the driver's needs by continuously monitoring the vehicle's driving status.

[0009] Further, timely fine-tuning includes the current actual angle of the rearview mirror being θ actua , the target angle is θ tlarget Based on the final angle calculated in step 2, the error angle between the two is Δθ error , Δθ error =θ tlarget —θ actua , then the self-correction adjustment amount Δθ correct is Δθ correct = K error ⋅Δθ error , where K errorThe gain factor is adjusted to control the rate and stability of the correction; at the same time, the gain factor is adjusted according to the size of the error and fed back to step S200 to change the sensitivity of the rearview mirror adjustment.

[0010] Further, obtaining the optimal state prediction includes the following steps: S211, predicting the system state at the current moment according to the state estimation at the previous moment and the current control input through the prediction equation: ,in is the prediction of the current state. is the prediction of the state at the last moment, A is the system transfer matrix, B is the control input matrix, u k is the control input; S212, by updating the equation, combining the measured value and the predicted value at the current moment, adjusting the predicted value to correct the error and give a more accurate state estimate: ,in, is the state estimate after the Kalman gain update; is the Kalman gain; y k is the measurement value; H is the observation matrix, which is used to convert the predicted state vector into the measurement space; To measure the residual; S213, steps S211 and S212 are performed alternately in chronological order to correct the prediction error to ensure that accurate state estimation is continuously provided in the time series data, and finally the optimal state is obtained, and the obtained optimal state is used as the adjustment gain factor.

[0011] In another aspect, the present invention provides a computer device, comprising: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the above-mentioned method for automatically adjusting the angle of a rearview mirror of a car and measuring the angle is implemented.

[0012] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0013] 1. The present invention dynamically adjusts according to the position of the driver's head and eyes: Different drivers have different body shapes, sitting postures, and sight angles. By accurately obtaining the three-dimensional coordinates of the driver's head and eyes, the system can calculate the most suitable rearview mirror angle for each driver in real time. This personalized adjustment method ensures that the driver can always see the road conditions behind in the most comfortable position. At the same time, the traditional rearview mirror adjustment requires the driver to adjust manually. By automatically adjusting the rearview mirror angle, this trouble is eliminated and the driving experience is improved, especially in long-term driving or frequently changing driving environments.

[0014] 2. The present invention can better monitor the traffic conditions behind and to the side by accurately calculating the angle of the rearview mirror to ensure that the driver's line of sight matches the reflection angle of the rearview mirror. While keeping the driver's line of sight clear, it effectively reduces blind spots and improves driving safety. The pitch angle, roll angle and dynamic movements of the vehicle (such as acceleration, braking, turning, etc.) will affect the effective field of view of the rearview mirror. By sensing these dynamic changes in real time, the angle of the rearview mirror is automatically adjusted to ensure that the driver can maintain the best field of view in any driving state and avoid blind spots caused by dynamic changes of the vehicle.

[0015] 3. The present invention uses multiple sensors (such as accelerometers, vehicle speed sensors, suspension system sensors, etc.) to obtain information such as the driver's head movement, seat position, and vehicle posture in real time, and the system can automatically optimize the rearview mirror angle. Such a system is not only highly accurate, but also fully automated, greatly reducing the driver's intervention. At the same time, Kalman filtering technology is used to fuse multi-sensor data, thereby reducing noise and errors and improving data reliability. This allows a high degree of accuracy and stability to be maintained in complex driving environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0017] Figure 1 A method flow chart provided for exemplary embodiment 1 of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Embodiment 1,

[0020] Traditional rearview mirror angle adjustment methods rely on manual adjustment by the driver or feedback mechanisms based on a single sensor to achieve automatic adjustment of the rearview mirror angle. In this embodiment, a method for automatic adjustment and angle measurement of a rearview mirror is provided. In this embodiment, based on common mechanical adjustment methods, multi-sensor data fusion and adaptive adjustment strategies based on vision and environmental perception are used. This allows the rearview mirror of the car to be accurately adjusted according to the driver's height, sitting posture, sight angle, etc., thereby improving driving safety and comfort. Figure 1The flowchart of this embodiment is disclosed. It can be seen from the figure that this method includes the following steps:

[0021] Step 1: Use an infrared sensor array to capture the three-dimensional coordinates of the driver's head in real time in the car. By detecting the driver's facial contour or head contour, combined with three-dimensional positioning technology, the coordinates of the driver's head position are obtained. A set of infrared sensor arrays are installed at the driver's position, and their positions are S1, S2, ..., Sn. The three-dimensional coordinates of the head can be calculated by combining the position of the sensor array through the triangulation positioning principle.

[0022] The eye height of the driver can be further accurately obtained through eye tracking technology. An infrared camera is installed at the same position as the infrared sensor array, so that the infrared sensor array and the infrared camera are coupled. The infrared sensor array emits infrared light to illuminate the eyes, and the infrared camera is used to capture the position of the iris of the eye, record the relative movement of the eyeball and the camera, and analyze the eyeball movement in combination with the data collected by the infrared sensor array to obtain the specific coordinates of the eye on the three-dimensional coordinates of the head. The difference in the reflection angle of light and the angle captured by the sensor can be used to estimate the position of the eye relative to the head, and then obtain the height of the eye.

[0023] After obtaining the head position and eye coordinates, the optimal reference angle of the rearview mirror is calculated according to the eye height. Assume that the coordinates of the rearview mirror are P mirror =(x mirror , y mirror , z mirror ), while the rearview mirror is fixed relative to the driver's seat. In order to adjust the rearview mirror angle according to the height of the eyes, the adjustment angle of the rearview mirror can be calculated through geometric relationships.

[0024] The optimal reference angle of the rearview mirror should ensure that the driver's line of sight matches the reflection angle of the rearview mirror. Assume that the coordinates of the eye are P eye = (x eye , y eye , z eye ) The coordinates of the rearview mirror are P mirror = (x mirror , y mirror , z mirror ), the initial reference angle θ between the rearview mirror and the eye is calculated by the following formula:

[0025] ,

[0026] Where, θ is the adjustment angle of the rearview mirror, in degrees; x eye , y eye , z eyeare the coordinates of the driver's eyes, representing the horizontal, vertical, and front-to-back directions; x mirror , y mirror , z mirror are the coordinates of the rearview mirror, representing the horizontal, vertical, and front-to-back directions respectively.

[0027] The above formula can be used to calculate the optimal reference angle of the rearview mirror at a specific driver's eye position. This angle can ensure that the driver can clearly see the road conditions behind while avoiding blind spots.

[0028] However, only considering the relative angle between the rearview mirror and the eyes cannot meet the needs of dynamic adjustment. In the dynamic adjustment process, the changes in seat height and tilt angle also need to be considered. The change information of seat height and tilt angle is obtained through sensors installed on the driver's seat (such as pressure sensors), and the rearview mirror is dynamically corrected based on this information. Based on the consideration of the seat position, the optimal angle of the rearview mirror can be fine-tuned according to the seat position. For example, if the seat height is h seat , the front and rear position of the seat is p seat , the optimal angle θ of the rearview mirror is obtained by the following formula adjusted :

[0029] , where f(h seat , p seat ) is the seat change function, which is used to adjust the angle of the rearview mirror according to the change of the seat, and the optimal angle is used as the final reference angle θ base .

[0030] It should be noted that in the traditional automatic adjustment scheme of the rearview mirror angle, a preset angle is usually used as a standard, and the rearview mirror is adjusted based on this standard. In this embodiment, the driver's head position and eye height are detected in real time by sensing technology, so as to dynamically adjust the angle of the rearview mirror. In this step, the infrared sensor array and eye tracking technology are used to accurately obtain the position of the driver's head and eyes, and the optimal reference angle of the rearview mirror is dynamically calculated. Then, on this basis, the influence of the seat position and inclination is considered, and the angle of the rearview mirror is further adjusted and optimized to meet the needs of different drivers. By adopting dynamic detection and real-time adjustment, it is possible to provide a personalized, comfortable and safe rearview mirror angle according to the height, sitting posture and sight angle of each driver. While improving the accuracy of the adjustment of the car rearview mirror, it also enhances the safety and comfort of driving.

[0031] Step 2: When the car is moving, the driver's head movements and vehicle dynamics are sensed in real time through sensor data, and the angle of the rearview mirror is dynamically adjusted to ensure that the driver can always obtain the optimal viewing angle. To achieve this goal, the adjustment gain factor is obtained by combining the data of multiple sensors and integrating the data of multiple sensors using a fusion algorithm.

[0032] Specifically, the sensors used include accelerometers, which are used to detect the tilt angle of the driver's head. The accelerometer can sense the movement of the head, especially the change in the direction of gravity, and thus infer the tilt angle of the driver's head. The gyroscope is used to detect the rotation changes of the vehicle body, especially during turning or driving, the roll or pitch changes of the vehicle body will affect the need to adjust the rearview mirror. Vehicle posture sensors, including vehicle speed sensors and suspension system sensors, are used to detect the pitch angle and roll angle of the vehicle and the dynamic changes of the vehicle body, such as speed changes, braking, acceleration, turning, etc., which will cause changes in the vehicle body posture, thereby affecting the angle of the rearview mirror. The seat position sensor is used to detect the vertical and front and rear positions of the seat, thereby helping to adjust the angle of the rearview mirror to ensure the needs of different drivers.

[0033] Specifically, step 2 includes the following sub-steps:

[0034] 1) The fusion algorithm implemented in this paper is a multi-sensor fusion algorithm based on Kalman filtering. Since the collected sensor data is not complete and accurate in reality, it is necessary to first filter the source data of the sensor based on Kalman filtering.

[0035] After filtering is completed, the prediction equation and update equation are used to predict the current system state and correct the predicted value. The prediction equation and update equation are performed alternately in chronological order. This corrects the prediction error. Ensure that accurate state estimates are continuously provided in the time series data, and ultimately obtain the optimal state, which is used as the adjustment gain factor for subsequent closed-loop feedback and self-calibration mechanisms.

[0036] Specifically, the prediction equation and update equation are used to predict the current system state, including the following:

[0037] Through the prediction equation:

[0038] in is the prediction of the current state. is the prediction of the state at the last moment, A is the system transfer matrix, B is the control input matrix, u k is the control input. Based on the state estimation at the previous moment and the current control input, the system state at the current moment is predicted.

[0039] Then by updating the equation:

[0040] ,in, is the state estimate after the Kalman gain is updated, that is, the corrected state estimate. is the Kalman gain, which is a weighted value calculated by the covariance matrix. k is the measured value, that is, the actual observed value. H is the observation matrix, which is used to transform the predicted state vector into the measurement space. The residual is the difference between the measured value and the predicted value. By combining the measured value and the predicted value at the current moment, the predicted value is adjusted to correct the error and give a more accurate state estimate.

[0041] The filtered data is fused according to the obtained state estimation to obtain the head-body posture state estimation value. Specifically, the head-body posture state estimation value is obtained by the following method: after fine processing of the data collected by the sensor through the Kalman filter, sensor data fusion is performed based on the state estimation value and combined with the following types of data:

[0042] Head angle estimation: The tilt angle of the head is detected through accelerometer data. The accelerometer can measure the change in acceleration under the action of gravity, thereby inferring the pitch and roll angles of the head. Then, the data is combined with the optimal state value to estimate the overall posture of the driver's head. For example, the pitch angle of the driver's head (raising or lowering the head) is estimated through accelerometer data, while the gyroscope data helps us obtain the rotation change of the vehicle body, especially during turning or driving, the roll or pitch change of the vehicle body will affect the need to adjust the rearview mirror. This information is sent to the Kalman filter for fusion, and finally a more accurate head posture estimate is obtained.

[0043] Vehicle posture estimation: Vehicle speed sensor data: Changes in vehicle speed will affect the pitch angle of the vehicle body. For example, when accelerating suddenly, the front of the vehicle will lift up, and when braking suddenly, the front of the vehicle will tilt down. The gyroscope is used to detect the rotational changes of the vehicle body, especially when turning or driving, the roll or pitch changes of the vehicle body will affect the need for rearview mirror adjustment. Suspension system sensor data: The suspension system can sense the dynamic tilt angle of the vehicle body, such as the roll of the vehicle body when the vehicle turns, or the up and down vibration of the vehicle body when passing through uneven roads. These body sensor data are combined with the posture data of the driver's head and fused through Kalman filtering to obtain a comprehensive estimate of the body and head posture. The fore-and-aft position and vertical adjustment of the seat will affect the driver's field of view. The seat position can also be obtained in real time through the seat sensor, and the rearview mirror angle can be further fine-tuned to meet the needs of different drivers.

[0044] 2) After the previous step, the driver's head angle and body posture information are obtained after fusion, and the rearview mirror angle is adjusted according to this information. The pitch angle of the driver's head after fusion is θ head , the pitch angle of the vehicle body is θ vehicle , the seat adjustment angle is θ seat , then the final rearview mirror angle θ mirror It can be calculated by the following formula:

[0045] ,

[0046] Among them, θ base is the initial angle of the rearview mirror in step 1, α1, α2, α3 are weight coefficients of different factors, and these coefficients can be dynamically adjusted according to the optimal state obtained by Kalman filtering.

[0047] Step 3: In order to ensure that the driver can always obtain the optimal viewing angle, a closed-loop feedback and self-calibration mechanism can also be introduced. The closed-loop feedback includes driver input feedback and automatic monitoring feedback.

[0048] Driver input feedback includes the driver providing feedback through the vehicle's central control screen, voice commands or other interactive methods to confirm whether the rearview mirror is adjusted to the appropriate position. The driver can also provide feedback by manually fine-tuning the rearview mirror.

[0049] Automatic monitoring feedback determines whether the adjustment of the rearview mirror meets the driver's needs by continuously monitoring the vehicle's driving status (such as road conditions, turns, acceleration or braking). For example, sensor data can be used to detect whether the rearview mirror's field of view is blocked or distorted when driving at high speed or making sharp turns, thereby determining whether further calibration is needed.

[0050] The adjustment error is evaluated based on the difference between the feedback information and the final mirror angle. If the mirror adjustment deviates too much from the expected value (possibly due to vehicle dynamics, rapid rotation of the driver's head, etc.), an error should be considered. When an error is determined, the self-calibration mechanism is activated. The mirror angle is fine-tuned in a timely manner based on historical feedback and sensor data.

[0051] Specifically, timely fine-tuning includes defining the current actual angle of the rearview mirror as θ actua , the target angle is θ tlarget (Based on the final angle calculated in the previous steps), the error angle between the two is Δθ error , then the self-correction adjustment amount Δθ correct is Δθ correct = K error ⋅Δθ error , where: Kerror To adjust the gain factor, used to control the rate and stability of correction; Δθ error =θ tlarget —θ actua .

[0052] And according to the size of the error, the gain factor is adjusted at the same time to change the sensitivity of the rearview mirror adjustment. For example, if the adjustment is too slow, the gain factor can be appropriately increased; if the reaction is too sensitive, the gain factor can be reduced.

[0053] Through this closed-loop feedback and self-calibration mechanism, the rearview mirror can continuously optimize its angle adjustment, so that each adjustment angle is as accurate as possible. After each self-calibration, the current adjustment strategy and gain factor are saved, and the entire closed-loop feedback process is continuously optimized by regularly reviewing the feedback results during the adjustment process.

[0054] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically adjusting and measuring the angle of a rearview mirror of an automobile, characterized in that: The automatic adjustment and angle measurement method comprises the following steps: S100, installing an infrared camera at the same position as the infrared sensor array, coupling the infrared sensor array and the infrared camera, the infrared sensor array emits infrared light to illuminate the eyes, capturing the position of the iris of the eyes through the infrared camera, and analyzing the eye movement in combination with the data collected by the infrared sensor array to obtain the specific coordinates of the eyes on the three-dimensional coordinates of the head, obtaining the coordinates of the driver's head position and eye position through three-dimensional positioning technology, obtaining the eye height of the driver through eye tracking technology, calculating the optimal reference angle of the rearview mirror according to the height of the eye position, and using the optimal reference angle as the reference angle θ of the rearview mirror base ; S200, when the car is started, the driver's head movement and the vehicle dynamic state are sensed in real time through sensor data, and the data of multiple sensors are integrated through a fusion algorithm to obtain the fused driver's head angle and vehicle body posture information and adjustment gain factor, and the rearview mirror angle is dynamically adjusted according to this information; S300, through closed-loop feedback and self-calibration mechanism to ensure that the driver can always get the best viewing angle, according to the feedback information and the final rearview mirror angle difference to evaluate the adjustment error, When the adjustment of the rearview mirror deviates from the expected value, it is considered that there is an error. At this time, the self-calibration mechanism is activated to fine-tune the angle of the rearview mirror in time based on historical feedback and sensor data.

2. The method for automatically adjusting and measuring the angle of a rearview mirror according to claim 1, characterized in that: The optimal reference angle is the angle at which the driver's line of sight matches the reflection angle of the rearview mirror, and is calculated by the following method: S110, the coordinates of the eye are P eye = (x eye , y eye , z eye ) The coordinates of the rearview mirror are P mirror = (x mirror , y mirror ,z mirror ), the initial reference angle θ between the rearview mirror and the eye is calculated by the following formula: ， Where θ is the initial reference angle of the rearview mirror, in degrees; x eye is the horizontal coordinate of the driver's eyes, y eye is the vertical coordinate of the driver's eyes; x mirror is the horizontal coordinate of the rearview mirror, y mirror is the vertical coordinate of the rearview mirror; S120, after obtaining the initial reference angle θ, obtaining the change information of the seat height and the tilt angle through the sensor installed in the driver's seat, constructing the seat change information function through the change information, thereby dynamically correcting the rearview mirror to obtain the optimal angle θ of the rearview mirror adjusted : ， Among them, f(h seat , p seat ) is the seat change information function, which is used to adjust the angle of the rearview mirror according to the change of the seat; h seat is the height of the seat, p seat For the front and rear position of the seat.

3. The method for automatically adjusting and measuring the angle of a rearview mirror according to claim 1, characterized in that: The real-time perception of the driver's head movement and the vehicle dynamic state through sensor data includes the following sensors: an accelerometer for detecting the tilt angle of the driver's head; a gyroscope for detecting the rotation change of the vehicle body; The vehicle posture sensor is used to detect the pitch angle and roll angle of the vehicle and the dynamic changes of the body. The seat position sensor is used to detect the vertical and front and rear positions of the seats.

4. The method for automatically adjusting and measuring the angle of a rearview mirror according to claim 1, characterized in that: The step S200 includes the following sub-steps: S210, first filtering the source data of the sensor based on Kalman filtering, and obtaining the optimal state prediction through Kalman filtering; S220, fusing the source data of the sensor according to the state estimation to obtain a head-body posture state estimation value, The state prediction fuses the source data of the sensor, including: detecting the tilt angle of the head through the accelerometer data to obtain the head angle estimation, and estimating the overall posture of the driver's head according to the optimal state prediction combined with the accelerometer data; The vehicle body sensor data is obtained by fusing the vehicle speed sensor data and the suspension system sensor data, and the vehicle body sensor data is combined with the overall posture data of the driver's head, and the fusion is performed through Kalman filtering to obtain a head-body posture state estimation value; S230, based on the output state of the Kalman filter and taking into account the seat position, a weighted formula is used to calculate the rearview mirror angle. The weighted formula calculation includes: The pitch angle of the driver's head after fusion is θ head , the pitch angle of the vehicle body is θ vehicle , the seat adjustment angle is θ seat , then the final rearview mirror angle θ mirror The weighted formula is: ， Among them, θ base is the reference angle of the rearview mirror, α1, α2, α3 are weight coefficients of different factors, and these coefficients can be dynamically adjusted according to the optimal state obtained by Kalman filtering.

5. The method for automatically adjusting and measuring the angle of a rearview mirror according to claim 1, characterized in that: The closed-loop feedback includes driver input feedback and automatic monitoring feedback. The driver input feedback includes the driver confirming whether the rearview mirror is adjusted to a suitable position through the vehicle central control screen, voice command or the driver manually fine-tuning the rearview mirror feedback; The automatic monitoring feedback determines whether the adjustment effect of the rearview mirror meets the driver's needs by continuously monitoring the driving status of the vehicle.

6. The method for automatically adjusting and measuring the angle of a rearview mirror according to claim 1, characterized in that: The timely fine-tuning includes: The actual angle of the rearview mirror is θ actua , the target angle is θ tlarget Based on the final angle calculated in step S200, the error angle between the two is Δθ error , Δθ error =θ tlarget —θ actua , Then the self-correction adjustment amount Δθ correct is Δθ correct = K error ⋅Δθ error , Among them, K error To adjust the gain factor, used to control the rate and stability of the correction; At the same time, the gain factor is adjusted in step S200 according to the size of the error, thereby changing the sensitivity of the rearview mirror adjustment.

7. The method for automatically adjusting and measuring the angle of a rearview mirror of a vehicle according to claim 4, characterized in that: The optimal state estimation comprises the following steps: S211. Predict the system state at the current moment based on the state estimation at the previous moment and the current control input through the prediction equation: ， in is the prediction of the current state. is the prediction of the state at the last moment, A is the system transfer matrix, B is the control input matrix, u k is the control input; S212, by updating the equation, combining the measured value and the predicted value at the current moment, adjusting the predicted value to correct the error and give a more accurate state estimate: ， in, is the state estimate after the Kalman gain update; is the Kalman gain; y k is the measurement value; H is the observation matrix, which is used to convert the predicted state vector into the measurement space; is the measurement residual; S213, alternately perform steps S211 and S212 in chronological order to correct the prediction error and ensure that accurate state estimation is continuously provided in the time series data, and finally obtain the optimal state, and use the obtained optimal state as the adjustment gain factor.

8. A computer device, characterized in that: The device comprises: processor; The memory stores a computer program, and when the computer program is executed by the processor, the method for automatically adjusting the angle of a rearview mirror and measuring the angle of the vehicle as described in any one of claims 1 to 7 is implemented.

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