Rearview mirror adjustment system, method and microprocessor chip

Abstract

In a technical solution for a rearview mirror adjustment system, method, and microprocessor chip provided by an embodiment of the present invention, the rearview mirror adjustment system includes: a steering wheel domain controller for receiving a steering wheel angle signal acquired by a steering wheel angle sensor and transmitting the steering wheel angle signal to the rearview mirror controller; a driving domain controller for receiving a vehicle speed signal acquired by a vehicle speed sensor and transmitting the vehicle speed signal to the rearview mirror controller; a rearview mirror controller for obtaining a target angle based on the steering wheel angle signal, the vehicle speed signal, and timing information, generating a motor control signal based on the target angle, and transmitting the motor control signal to the rearview mirror motor; and a rearview mirror motor for controlling the rotation of a rotating device based on the motor control signal to rotate the rearview mirror to the target angle. This embodiment of the present invention can continuously adjust the rearview mirror based on the steering wheel angle signal and the vehicle speed signal.

Description

Technical field

[0001] The present invention relates to the field of AI control, and in particular to a rearview mirror adjustment system, method and microprocessor chip. [Background Technology]

[0002] Currently, rearview mirror adjustment technology typically relies on collecting vehicle angle information, Global Positioning System (GPS) receiver information, and map data to automatically control the mirrors. This requires redundant information and results in complex designs. In practice, due to varying steering angles during lane changes, varying fields of view, and the constant shifting of blind spots during steering, continuous mirror adjustment is impossible. [Summary of the invention]

[0003] In view of this, embodiments of the present invention provide a rearview mirror adjustment system, method, and microprocessor chip, which can continuously adjust the rearview mirror according to a steering wheel angle signal and a vehicle speed signal.

[0004] In a first aspect, an embodiment of the present invention provides a rearview mirror adjustment system, the system comprising:

[0005] A steering wheel domain controller, configured to receive a steering wheel angle signal acquired by a steering wheel angle sensor and transmit the steering wheel angle signal to a rearview mirror controller;

[0006] A driving domain controller, configured to receive a vehicle speed signal collected by a vehicle speed sensor and transmit the vehicle speed signal to the rearview mirror controller;

[0007] The rearview mirror controller is configured to start timing and generate timing information after receiving the steering wheel angle signal or the vehicle speed signal, obtain a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information, generate a motor control signal based on the target angle, and send the motor control signal to the rearview mirror motor;

[0008] The rearview mirror motor is used to control the rotation of the rotating device according to the motor control signal, so that the rearview mirror is rotated to the target angle.

[0009] The beneficial effects of the steering wheel angle signal driving the rearview mirror controller in the embodiment of the present invention are as follows: the angle signal is used to "drive" the rearview mirror controller to start timing and generate a timing signal; the steering wheel angle signal is pre-screened by the steering wheel domain controller, and a command signal is generated only when the steering wheel angle is greater than the specified angle, which can optimize the intelligent response of the rearview mirror adjustment, avoid accidental triggering of the rearview mirror steering, and ensure driving safety.

[0010] Optionally, the rearview mirror controller includes a processing unit and a control unit;

[0011] The processing unit is configured to start timing and generate timing information after receiving the steering wheel angle signal or the vehicle speed signal;

[0012] The processing unit is further configured to obtain a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information, and generate a target angle adjustment signal based on the target angle;

[0013] The control unit is used to generate a motor control signal according to the target angle adjustment signal, and send the motor control signal to the rearview mirror motor.

[0014] Optionally, the processing unit is specifically configured to: determine that the steering mode of the vehicle is a same-direction lane change through the steering wheel angle signal, the vehicle speed signal and the timing information, and calculate the target angle.

[0015] The embodiment of the present invention determines that the vehicle's steering mode is a same-direction lane change through a steering wheel angle signal, a vehicle speed signal, and timing information, and calculates the target angle, which has the beneficial effect of enabling more convenient and continuous observation of the vehicle situation behind the lane to be changed, and realizing adjustment of the rearview mirror throughout the entire process of vehicle steering and returning.

[0016] Optionally, the processing unit is specifically used to: determine that the steering mode of the vehicle is turning and changing lanes through the steering wheel angle signal, the vehicle speed signal and the timing information, and calculate the target angle.

[0017] The embodiment of the present invention determines that the vehicle's steering mode is a turn lane change through a steering wheel angle signal, a vehicle speed signal and timing information, and calculates the beneficial effect of the target angle: it is possible to more conveniently and continuously observe the vehicle situation behind the lane to be changed, and to achieve adjustment of the rearview mirror throughout the entire process of vehicle steering and returning.

[0018] Optionally, the steering wheel domain controller is further used to receive a turn signal collected by a turn signal sensor and transmit the turn signal to the rearview mirror controller.

[0019] Optionally, the rearview mirror controller is configured to obtain a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information, specifically comprising:

[0020] The rearview mirror controller is used to determine the vehicle rotation angle based on the integral processing of the steering wheel angle signal and the timing information, and then determine the target angle based on the integral processing and trigonometric relationship of the vehicle speed signal, the timing information and the vehicle rotation angle.

[0021] Optionally, the rearview mirror controller is configured to determine the vehicle rotation angle based on the steering wheel angle signal and the integration of the timing information, specifically comprising:

[0022] The rearview mirror controller is used to multiply the integration result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and the constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtain the vehicle turning angle based on the first result, a preset reference angle and a correction coefficient.

[0023] Optionally, the rearview mirror controller is configured to determine the target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle rotation angle, specifically comprising:

[0024] The rearview mirror controller is used to obtain the coordinates of the target position according to the vehicle speed signal, the timing information and the integration result of the vehicle rotation angle; and determine the target angle according to the coordinates of the target position and the trigonometric relationship.

[0025] Optionally, the rearview mirror controller is configured to obtain a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information, specifically comprising:

[0026] The rearview mirror controller is used to determine the vehicle turning angle based on the integration processing of the steering wheel angle signal and the timing information; and determine the turning range of the target angle based on the vehicle turning angle, a preset standard lane width and a trigonometric relationship.

[0027] Optionally, the processing unit includes: an AI computing module;

[0028] The AI computing module is used to calculate the target angle of the vehicle in real time according to a set algorithm or model.

[0029] Optionally, the processing unit includes: a register, an ADC and a CPU;

[0030] The register is used to store the vehicle signal;

[0031] The ADC is used to sample the vehicle signal in the register and transmit the sampled data to the CPU;

[0032] The CPU is configured to perform relevant data processing and calculation on the sampled data to obtain the target angle, and generate a target angle adjustment signal according to the target angle.

[0033] Optionally, the rearview mirror controller further includes: a second CAN transceiver and a second CAN controller;

[0034] The second CAN transceiver is used to receive the voltage signal and convert the voltage signal into a CAN data packet binary signal;

[0035] The second CAN controller is configured to extract the steering wheel angle signal and / or the vehicle speed signal from the binary signal of the CAN data packet.

[0036] On the other hand, an embodiment of the present invention provides a rearview mirror adjustment method, which is applied to a rearview mirror adjustment system. The method includes:

[0037] After receiving the steering wheel angle signal or the vehicle speed signal, the timing is started and timing information is generated;

[0038] obtaining a target angle according to the steering wheel angle signal, the vehicle speed signal and the timing information;

[0039] The rotating device is controlled to rotate according to the target angle so that the rearview mirror is rotated to the target angle.

[0040] Optionally, obtaining the target angle according to the steering wheel angle signal, the vehicle speed signal and the timing information specifically includes:

[0041] determining, by means of the steering wheel angle signal, the vehicle speed signal, and the timing information, that the steering mode of the vehicle is a same-direction lane change, and calculating the target angle;

[0042] or

[0043] The steering mode of the vehicle is determined to be a lane change through the steering wheel angle signal, the vehicle speed signal and the timing information, and the target angle is calculated.

[0044] Optionally, obtaining the target angle according to the steering wheel angle signal, the vehicle speed signal and the timing information specifically includes:

[0045] The target angle is obtained according to the steering wheel angle signal, the vehicle speed signal, timing information and a rearview mirror turning angle AI model that has been pre-trained by AI.

[0046] The beneficial effects of adding an AI model for the rearview mirror turning angle in an embodiment of the present invention are as follows: the introduction of the AI model for the rearview mirror turning angle makes the system more intelligent, significantly speeds up the processing speed and saves power, and can meet the high processing speed requirements from vehicle sensors collecting vehicle signals to controlling the rotation of the rearview mirror, especially accelerating the processing speed of the straight lane change algorithm and the right-angle turn algorithm.

[0047] In another aspect, an embodiment of the present invention provides a microprocessor chip, comprising: a processor configured to call and execute a computer program from a memory, so that an electronic device equipped with the microprocessor chip performs the following steps:

[0048] The target angle is obtained according to the steering wheel angle signal, the vehicle speed signal and the timing information.

[0049] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0050] Determining that the vehicle's steering mode is a same-direction lane change based on the steering wheel angle signal, the vehicle speed signal, and the timing information, and calculating the target angle;

[0051] or

[0052] The steering mode of the vehicle is determined to be a lane change through the steering wheel angle signal, the vehicle speed signal and the timing information, and the target angle is calculated.

[0053] In the technical solutions of the rearview mirror adjustment system, method, and microprocessor chip provided in the embodiments of the present invention, the rearview mirror adjustment system includes: a steering wheel domain controller for receiving a steering wheel angle signal acquired by a steering wheel angle sensor, generating a command signal based on the steering wheel angle signal, and transmitting the steering wheel angle signal and the command signal to the rearview mirror controller; a driving domain controller for receiving a vehicle speed signal acquired by a vehicle speed sensor and transmitting the vehicle speed signal to the rearview mirror controller; the rearview mirror controller for starting a timer and generating timing information upon receiving the steering wheel angle signal or the vehicle speed signal, obtaining a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information, generating a motor control signal based on the target angle, and transmitting the motor control signal to the rearview mirror motor; and the rearview mirror motor for controlling a rotating device according to the motor control signal to rotate the rearview mirror to the target angle. The embodiments of the present invention enable continuous adjustment of the rearview mirror based on the steering wheel angle signal and the vehicle speed signal, enabling more convenient and continuous observation of the vehicle behind the desired lane change, and achieving rearview mirror adjustment throughout the entire process of vehicle steering and returning to the center of the vehicle.

Brief Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 A schematic structural diagram of a rearview mirror adjustment system provided by one embodiment of the present invention;

[0056] Figure 2 for Figure 1 A schematic diagram of a specific structure of the center rearview mirror adjustment system;

[0057] Figure 3 A schematic structural diagram of another rearview mirror adjustment system provided by an embodiment of the present invention;

[0058] Figure 4 Schematic diagram of the principle of determining that the vehicle's steering mode is a same-direction lane change based on the steering wheel angle signal, vehicle speed signal and timing information, and calculating the target angle;

[0059] Figure 5 A schematic diagram showing a principle for determining that the vehicle's steering mode is a lane change through a steering wheel angle signal, a vehicle speed signal, and timing information, and calculating a target angle;

[0060] Figure 6 Another schematic diagram of a method for determining that the vehicle's steering mode is a lane change and calculating a target angle using a steering wheel angle signal, a vehicle speed signal, and timing information;

[0061] Figure 7 A schematic structural diagram of a rearview mirror adjustment system provided by another embodiment of the present invention;

[0062] Figure 8 A flowchart of a rearview mirror adjustment method provided by one embodiment of the present invention;

[0063] Figure 9 for Figure 8 A flow chart for obtaining a target angle based on vehicle signals and timing information;

[0064] Figure 10 for Figure 8 Another flow chart for obtaining the target angle based on vehicle signals and timing information

[0065] Figure 11 The present invention provides a flowchart of a rearview mirror adjustment method according to another embodiment of the present invention. [Specific implementation method]

[0066] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0067] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0068] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0069] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0070] Currently, rearview mirror adjustment technology typically relies on collecting vehicle angle information, GPS receiver information, and map data to automatically control the mirrors. This requires redundant information and results in complex designs. Current civilian GPS positioning accuracy is insufficient to meet the requirements of rearview mirror adjustment technology, making the solution difficult to implement. Furthermore, in actual use, due to varying steering angles during lane changes, varying fields of view, and the constant shifting of blind spots during steering, continuous mirror adjustment is impossible.

[0071] In response to the above technical problems, embodiments of the present invention provide a rearview mirror adjustment system, method, and microprocessor chip with a simple design, high universality, stability, and precision. The system can determine the vehicle posture based on the steering wheel angle signal and the vehicle speed signal, and continuously adjust the rearview mirror using relevant algorithms.

[0072] Figure 1 This is a schematic structural diagram of a rearview mirror adjustment system provided by one embodiment of the present invention. Figure 2 for Figure 1 Schematic diagram from the steering wheel angle sensor to the rearview mirror motor, Figure 3 A schematic structural diagram of another rearview mirror adjustment system provided by an embodiment of the present invention.

[0073] like Figure 1 As shown, the rearview mirror adjustment system 10 includes a steering wheel domain controller 13, a driving domain controller 14, a rearview mirror controller 15, and a rearview mirror motor 16. The steering wheel domain controller 13 and the rearview mirror controller 15 are connected via a bus 17; the driving domain controller 14 and the rearview mirror controller 15 are connected via the bus 17; and the rearview mirror controller 15 and the rearview mirror motor 16 are electrically connected.

[0074] like Figure 1 As shown, the rearview mirror adjustment system 10 further includes vehicle sensors. The vehicle sensors are used to collect vehicle signals, including a steering wheel angle sensor 11 and a vehicle speed sensor 12.

[0075] The steering wheel angle sensor 11 is used to collect the steering wheel angle signal of the vehicle.

[0076] The vehicle speed sensor 12 is used to collect the vehicle speed signal.

[0077] The steering wheel domain controller 13 is used to receive the steering wheel angle signal collected by the steering wheel angle sensor 11 and transmit the steering wheel angle signal to the rearview mirror controller 15.

[0078] In the embodiment of the present invention, Figure 2 As shown, the steering wheel domain controller 13 includes an A / D converter 131, a central processing unit 132, a power supply 135, a reset unit 136, a memory 137, a first CAN controller 138, and a first CAN transceiver 139. The power supply 135 is used to provide power to the central processing unit 132; the reset unit 136 is used to reset the central processing unit 132; and the memory 137 is used to store data.

[0079] The steering wheel angle signal received by the A / D converter 131 from the steering wheel angle sensor 11 is an analog signal. The A / D converter 131 is configured to convert the analog steering wheel angle signal into a digital steering wheel angle signal and transmit the converted digital steering wheel angle signal to the central processing unit 122. The central processing unit 132 is configured to process the digital steering wheel angle signal and, based on the steering wheel angle signal, generate a command signal to "drive" the processing unit 151 of the rearview mirror controller 15 to start timing. Furthermore, the digital steering wheel angle signal is transmitted to the first CAN controller 138. The first CAN controller 138 is configured to package the steering wheel angle signal into a CAN data packet and transmit the CAN data packet to the first CAN transceiver 139. The first CAN transceiver 139 is used to convert the CAN data packet into a voltage signal and send the voltage signal to the bus 17, so that the voltage signal is transmitted to the rearview mirror controller 15 through the bus 17. In the rearview mirror controller 15, the relevant CAN data can be unpacked to obtain the steering wheel angle signal. It can be understood that the command signal for "driving" the processing unit 151 of the rearview mirror controller 15 to start timing can also be transmitted through the CAN bus.

[0080] Specifically, the steering wheel domain controller 13 generates a command signal by pre-screening the steering wheel angle signal. That is, it will generate a command signal to "drive" the processing unit 151 of the rearview mirror controller 15 to start timing only when the steering wheel angle is greater than the specified angle. This can optimize the intelligent response of the rearview mirror adjustment, avoid accidental triggering of the rearview mirror steering, and ensure driving safety.

[0081] The driving domain controller 14 is configured to receive a vehicle speed signal collected by the vehicle speed sensor 12 and transmit the vehicle speed signal to the rearview mirror controller 15 .

[0082] In the embodiment of the present invention, the process of collecting the vehicle speed signal from the vehicle speed sensor 12 to the rearview mirror controller 15 is consistent with the above-mentioned process of collecting the steering wheel angle signal from the steering wheel angle sensor 11 to the rearview mirror controller 15, and will not be repeated here.

[0083] The rearview mirror controller 15 is used to start timing and generate timing information after receiving a steering wheel angle signal or a vehicle speed signal, obtain a target angle based on the steering wheel angle signal, the vehicle speed signal and the timing information, generate a motor control signal based on the target angle, and send the motor control signal to the rearview mirror motor 16.

[0084] Among them, the rearview mirror controller 15 has its own timer. Figure 1 As shown, the rearview mirror controller 15 includes a processing unit 151 and a control unit 152. Processing unit 151 is configured to start timing and generate timing information upon receiving a steering wheel angle signal or a vehicle speed signal. Processing unit 151 is further configured to determine a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information. Control unit 152 is configured to generate a motor control signal based on the target angle and transmit the motor control signal to the rearview mirror motor 16.

[0085] In this embodiment of the present invention, processing unit 151 includes a central processing unit (CPU), an analog-to-digital converter (ADC), and registers. The registers are used to store vehicle signals, including steering wheel angle signals and vehicle speed signals. The ADCs are used to sample the vehicle signals in the registers and transmit the sampled data to the CPU. The CPU is used to perform relevant data processing and calculations on the sampled data to obtain a target angle and generate a target angle adjustment signal based on the target angle.

[0086] It should be noted that the steering wheel domain controller 13, the driving domain controller 14 and the processing unit 151 can all be micro-processing unit MPU chips.

[0087] In the embodiment of the present invention, the bus 17 includes a CAN bus.

[0088] In the embodiment of the present invention, Figure 2 As shown, the rearview mirror controller 15 further includes a second CAN transceiver 154 and a second CAN controller 155. The second CAN transceiver 154 is configured to receive a voltage signal transmitted via the bus 17, convert the voltage signal into a CAN data packet binary signal, and transmit the CAN data packet binary signal to the second CAN controller 155. The second CAN controller 155 is configured to extract a steering wheel angle signal and a vehicle speed signal from the CAN data packet binary signal and transmit the steering wheel angle signal and the vehicle speed signal to the processing unit 151. The second CAN controller 134 is further configured to extract a command signal from the CAN data packet binary signal and transmit the command signal to the processing unit 151.

[0089] As an optional solution, the processing unit 151 is specifically configured to determine that the vehicle's steering mode is a same-direction lane change through a steering wheel angle signal, a vehicle speed signal, and timing information, and calculate a target angle.

[0090] As another optional solution, the processing unit 151 is used to obtain the target angle based on the vehicle signal and timing information, specifically including: the processing unit 151 is used to determine the vehicle turning angle based on the integral processing of the steering wheel angle signal and the timing information, and then determine the target angle based on the integral processing and trigonometric relationship of the vehicle speed signal, the timing information and the vehicle turning angle.

[0091] Specifically, the processing unit 151 is used to determine the vehicle turning angle based on the integral processing of the steering wheel angle signal and the timing information, specifically including: the processing unit 151 is used to multiply the integral result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and the constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtain the vehicle turning angle based on the first result, the preset reference angle and the correction coefficient.

[0092] Figure 4 Schematic diagram of the principle of calculating the target angle for determining the vehicle's steering mode as a same-direction lane change using the steering wheel angle signal, vehicle speed signal, and timing information.

[0093] In the embodiment of the present invention, Figure 4As shown, a rectangular coordinate system XOY is established, the vehicle speed signal is V, and the angle change during the tire cut-track offset process is set as the vehicle rotation angle θ, which is equivalent to the overall angle change of the vehicle; the steering wheel steering angle δ is obtained through the steering wheel angle signal. The change of the steering wheel steering angle δ requires setting a vector relationship, setting the left to be negative, the right to be positive, and vice versa, to facilitate the adjustment of the rearview mirror during the entire process of vehicle steering and returning; the effective observation angle of the rearview mirror is set to α, and the target angle for adjusting the rearview mirror is set to β, where the second intersection A and the first intersection B are the points that intersect with the set X-axis under the effective observation angle of the rearview mirror during the movement of the vehicle from the initial position C to the target position D.

[0094] The relationship between the vehicle turning angle θ, the steering wheel steering angle δ and the time t is:

[0095] θ=90°-Aγ∫δdt+K (1)

[0096] In formula (1), 90° is the preset reference angle; A is the wheelbase of the vehicle; γ is the constant ratio of the steering wheel steering angle δ to the tire steering angle, which is generally 1 / 15; K is the correction coefficient, which is related to the specific automotive electronics such as the sensitivity of the vehicle's steering transmission system; Aγ∫δdt is the first result.

[0097] Specifically, the processing unit 151 is used to determine the target angle based on the integral processing and trigonometric relationship of the vehicle speed signal, timing information and vehicle rotation angle, specifically including: the processing unit 151 is used to obtain the coordinates of the target position based on the integral result of the vehicle speed signal, timing information and vehicle rotation angle; determine the target angle based on the coordinates of the target position and the trigonometric relationship.

[0098] Decompose the tangential vehicle velocity signal V into the vertical velocity V y and horizontal velocity V x ,

[0099] V y =V sinθ (2)

[0100] V x =Vcosθ (3)

[0101] At time t, the horizontal displacement of the vehicle is set to X', and the vertical displacement is set to Y';

[0102] Y'=∫V y dt (4)

[0103] X'=∫V x dt (5)

[0104] Taking the initial position C to the target position D as an example, the initial position C is known, or is set as the origin when establishing the coordinates. The coordinates of the initial position C are set to (X0, Y0), so the corresponding coordinate position changes are:

[0105] X1=X'+X0 (6)

[0106] Y1=Y'+Y0 (7)

[0107] From the above equations (1)-(7), the coordinates of the target position D can be obtained as (X1, Y1).

[0108] like Figure 4 As shown, taking the right triangle ADG as an example, ∠ADG=α, then ∠DAG=90°-α, and the equation of the straight line AD is:

[0109] Y-Y1=-tan(90°+α)(X-X1) (8)

[0110] Similarly, taking the right triangle BCE as an example, we can get the equation of the line CB:

[0111] Y-Y0=-tan(90°+α)(X-X0) (9)

[0112] The coordinates (X3, Y3) of the second intersection point A and the coordinates (X2, Y2) of the first intersection point B can be obtained from the above equations (8)-(9).

[0113] From the coordinates of the second intersection point A, the first intersection point B and the initial position C, we can get:

[0114] ∠CBA=arctan{(Y2-Y0) / (X2-X0)} (10)

[0115] ∠CAB=arctan{(Y3-Y0) / (X3-X0)} (11)

[0116] From the above formulas (10)-(11), it can be determined that:

[0117] ∠ACB=180°-∠CBA-∠CAB (12)

[0118] In the embodiment of the present invention, the target angle to which the rearview mirror needs to be adjusted is:

[0119] β=∠ACB (13)

[0120] The embodiment of the present invention determines that the vehicle's steering mode is a same-direction lane change through a steering wheel angle signal, a vehicle speed signal, and timing information, and calculates a target angle, which enables more convenient and continuous observation of the vehicle situation behind the lane to be changed, and realizes adjustment of the rearview mirror throughout the entire process of vehicle steering and returning.

[0121] As another optional solution, the processing unit 151 is specifically configured to determine that the vehicle's steering mode is a lane change through a steering wheel angle signal, a vehicle speed signal, and timing information, and calculate a target angle.

[0122] As another optional solution, the processing unit 151 is used to obtain the target angle based on the vehicle signal and timing information, specifically including: the processing unit 151 is used to determine the vehicle turning angle based on the integral processing of the steering wheel angle signal and timing information; determine the turning range of the target angle based on the vehicle turning angle, the preset standard lane width and the triangular relationship.

[0123] In the embodiment of the present invention, Figure 5 A schematic diagram showing a principle for determining that the vehicle's steering mode is a lane change through steering wheel angle signals, vehicle speed signals, and timing information, and calculating the target angle, as shown in FIG. Figure 5 As shown in the figure, a vehicle travels from point a to point b. Line L5 is the line that indicates the vehicle's direction at point a. The angle between lines L1 and L5 is the rearview mirror's effective viewing angle α. Line L4 is the line that indicates the vehicle's direction at point b. The angle between lines L2 and L4 is the rearview mirror's effective viewing angle α. Line L6 is set, and the angle between line L6 and line L5 is β. Line L3 is set, and the angle between line L3 and line L6 is the rearview mirror's effective viewing angle α.

[0124] The inclination angle of line L4 is the tangent angle θ at point b b , i.e. the vehicle turning angle, can be obtained from the above formula (1) and will not be repeated here. The inclination angle of the straight line L5 is the tangent angle θ at point a a , can be obtained by actual measurement; or, directly take point a as the origin to establish a coordinate system, in which case the tangent angle of point a is 90°. According to the trigonometric relationship, the inclination of line L2 is 180°-θ a +θ b , combined with the coordinates of point b, we can get the equation of line L2.

[0125] Let y = b in the equation of line L2, and we can find the distance from point b to other lanes; or Figure 5 Establish a coordinate system, taking the standard lane width of 2m as an example; or preset a safety value.

[0126] The coordinates of point c can be obtained through the relationship and angle between the above straight lines; then the inclination angle of straight line L3 can be determined by the coordinates of points a and c.

[0127] The inclination of line L3 and the angle between line L3 and line L6 are used as the effective observation angle α, and the inclination of line L6 can be obtained. Combined with the inclination of line L5, the maximum value β of the target angle can be obtained.

[0128] At this time, the target angle needs to be set to 0~β.

[0129] Figure 6 Another schematic diagram of a method for determining that the vehicle's steering mode is a lane change and calculating the target angle using a steering wheel angle signal, a vehicle speed signal, and timing information is shown below. Figure 6 As shown, a vehicle travels from point a to point b. Line L4' is the line that indicates the vehicle's direction at point a. The angle between line L4' and line L1' is the rearview mirror's effective viewing angle α. Line L5' is the line that indicates the vehicle's direction at point b. The angle between line L5' and line L2' is the rearview mirror's effective viewing angle α. Line L3' is set, and the angle between line L3' and line L1' is β. Line L6' is set, and the angle between line L6' and line L3' is the rearview mirror's effective viewing angle α.

[0130] The angle between the straight line L4' and the X axis is θ a , the angle between the straight line L5' and the X axis is θ b According to the geometric relationship, let the angle between the straight line L1' and the X axis be γ1, and the angle between the straight line L3' and the X axis be γ3, then: 180° - θ a +α+γ1=180°, so γ1=θ a -α. Similarly, we can get γ3=α-θ b . Therefore, β=180° -2α+θ a +θ b .

[0131] At this time, the target angle needs to be set to 0~β.

[0132] Optionally, whether the vehicle is changing lanes in the same direction or turning lanes is determined based on the size of the vehicle turning angle θ.

[0133] For example, when the vehicle turning angle θ≥80°, it is a same-direction lane change, 0°<vehicle turning angle θ<80°

[0134] The embodiment of the present invention determines the target angle of the vehicle when turning and changing lanes through a turning angle algorithm, which can more conveniently and continuously observe the vehicle situation behind the lane to be changed, and realize the adjustment of the rearview mirror during the entire process of vehicle steering and returning.

[0135] As another optional solution, the processing unit 151 includes an artificial intelligence (AI) operation module, which is used to calculate the target angle of the vehicle in real time according to a set algorithm or model; wherein the AI operation module stores an AI model of the rearview mirror turning angle that has been pre-trained by AI; the processing unit 151 is specifically used to: obtain the target angle based on the steering wheel angle signal, the vehicle speed signal, the timing information and the AI model of the rearview mirror turning angle that has been pre-trained by AI.

[0136] Optionally, the rearview mirror turning angle AI model is:

[0137] P(M│V)=mM 5 +nN 2 +pP 3

[0138] Among them, M is the steering wheel turning angle, N is the steering wheel rotation time, P is the vehicle speed, m, n, and p are parameters to be calculated during the AI training process, and P(P│V) is the optimal target angle.

[0139] In the field of artificial intelligence, AI training utilizes a large number of accelerators (such as GPUs or CPUs) to find a suitable neural network architecture and calculate the optimal structural parameters of the neural network so that the network can complete a specific task. In layman's terms, AI training involves "feeding" a machine with large amounts of data so that it can learn to recognize and distinguish objects.

[0140] By adding an AI computing module, the embodiment of the present invention makes the system more intelligent, significantly speeds up the processing speed and saves power. It can meet the high processing speed requirements from vehicle sensors collecting vehicle signals to controlling the rotation of rearview mirrors, especially accelerating the processing speed of straight lane change algorithms and right-angle turn algorithms.

[0141] In an embodiment of the present invention, the motor control signal includes a pulse width modulation (PWM) signal.

[0142] The rearview mirror motor 16 is used to control the rotation of the rotating device according to the motor control signal so that the rearview mirror is rotated to a target angle. Specifically, the angle of the mirror surface or the mirror body of the rearview mirror is changed to the target angle.

[0143] Optional, such as Figure 3 As shown, the rearview mirror adjustment system 10 further includes a turn signal sensor 18. The turn signal sensor 18 is used to obtain the vehicle's turn signal. The steering wheel domain controller 13 is further used to receive the turn signal collected by the turn signal sensor 18 and send the turn signal to the rearview mirror controller 15. The rearview mirror controller 15 is used to start timing and generate timing information after receiving the steering wheel angle signal, vehicle speed signal, or turn signal, obtain a target angle based on the steering wheel angle signal, vehicle speed signal, turn signal, and timing information, generate a motor control signal based on the target angle, and send the motor control signal to the rearview mirror motor 16.

[0144] The embodiment of the present invention adds a turn signal sensor 18 to trigger the adjustment system of the rearview mirror in advance before turning, thereby optimizing the driving experience of adjusting the angle of the rearview mirror.

[0145] The embodiment of the present invention can continuously adjust the rearview mirror according to the steering wheel angle signal and the vehicle speed signal, and can more conveniently and continuously observe the vehicle situation behind the lane that needs to be changed, and realize the adjustment of the rearview mirror during the entire process of vehicle steering and returning.

[0146] Figure 7 FIG1 is a structural diagram of a vehicle rearview mirror adjustment control system provided by another embodiment of the present invention. Figure 7 As shown, the vehicle rearview mirror adjustment control system 20 and Figure 1-3 The difference between the vehicle rearview mirror adjustment control system 10 shown is that the vehicle rearview mirror adjustment control system 20 includes a steering wheel angle sensor 21 , a steering wheel domain controller 23 , a rearview mirror controller 25 , a rearview mirror motor 26 and a bus 27 .

[0147] Furthermore, the vehicle rearview mirror adjustment control system 20 and Figure 1-3 The vehicle rearview mirror adjustment control system 10 shown in FIG. 1 further differs in that the rearview mirror controller 25 includes a processing unit 251 and a control unit 252. The processing unit 251 is configured to obtain a steering wheel rotation angle based on the steering wheel angle signal and to obtain a target angle based on the steering wheel rotation angle. Specifically, the processing unit 251 is configured to determine ½ of the steering wheel rotation angle as the target angle.

[0148] In this embodiment, the rearview mirror controller may include a central processing unit (CPU), an analog-to-digital converter (ADC), and a register. The register is used to store vehicle signals, including a steering wheel angle signal and / or a vehicle speed signal. The ADC is used to sample the vehicle signals in the register and transmit the sampled data to the CPU. The CPU is used to perform relevant data processing and calculations on the sampled data to obtain a target angle and generate a target angle adjustment signal based on the target angle.

[0149] In this embodiment, the rearview mirror controller further includes: a second CAN transceiver and a second CAN controller;

[0150] The second CAN transceiver is used to receive the voltage signal and convert the voltage signal into a CAN data packet binary signal;

[0151] The second CAN controller is used to extract the steering wheel angle signal from the binary signal of the CAN data packet.

[0152] Optionally, the steering wheel domain controller is used to transmit vehicle signals to the rearview mirror controller via the CAN bus.

[0153] Optionally, the steering wheel domain controller is further used to receive a turn signal collected by a turn signal sensor and transmit the turn signal to the rearview mirror controller.

[0154] In the embodiment of the present invention, half of the steering wheel steering angle is determined as the target angle, and the mathematical model used is simple. The rearview mirror angle is dynamically adjusted according to the steering wheel steering angle during the vehicle's same-direction lane change and turning process. The information obtained is simple, and the operation is simple and fast.

[0155] The embodiment of the present invention can continuously adjust the rearview mirror according to the steering wheel angle signal, can more conveniently and continuously observe the vehicle situation behind the lane that needs to be changed, and realize the adjustment of the rearview mirror throughout the entire process of vehicle steering and returning.

[0156] based on Figure 1-3 The rearview mirror adjustment system shown in the figure, the embodiment of the present invention provides a rearview mirror adjustment method, which is applied to the rearview mirror adjustment system, such as Figure 8 As shown, the method includes:

[0157] Step 301: Start timing after receiving a steering wheel angle signal or a vehicle speed signal, and generate timing information.

[0158] In this embodiment of the present invention, a steering wheel angle sensor collects a steering wheel angle signal and transmits it and a command signal to a rearview mirror controller. A vehicle speed sensor collects a vehicle speed signal, and a travel domain controller transmits the vehicle speed signal to the rearview mirror controller. Upon receiving the command signal, the rearview mirror controller begins timing and generates timing information.

[0159] Step 302: Obtain a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information.

[0160] In an embodiment of the present invention, the rearview mirror controller obtains a target angle according to a steering wheel angle signal, a vehicle speed signal, and timing information.

[0161] As an optional solution, step 302 specifically includes: determining that the vehicle's steering mode is a same-direction lane change through the steering wheel angle signal, vehicle speed signal and timing information, and calculating the target angle; or determining that the vehicle's steering mode is a turn lane change through the steering wheel angle signal, vehicle speed signal and timing information, and calculating the target angle.

[0162] As another option, Figure 9 As shown, step 302 specifically includes:

[0163] Step 3021: Determine the vehicle rotation angle based on the integration of the steering wheel angle signal and the timing information.

[0164] Specifically, step 3021 specifically includes: multiplying the integral result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and the constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtaining the vehicle rotation angle based on the first result, a preset reference angle and a correction coefficient.

[0165] Step 3022: Determine the target angle based on the integration and trigonometric relationship of the vehicle speed signal, the timing information, and the vehicle rotation angle.

[0166] Specifically, step 3022 includes: obtaining the coordinates of the target position according to the vehicle speed signal, the timing information and the integration result of the vehicle rotation angle; and determining the target angle according to the coordinates of the target position and the trigonometric relationship.

[0167] As another option, Figure 10 As shown, step 302 specifically includes:

[0168] Step 302a: Determine the vehicle turning angle based on the integration of the steering wheel angle signal and the timing information.

[0169] Specifically, step 302a includes: multiplying the integral result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and the constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtaining the vehicle rotation angle based on the first result, a preset reference angle and a correction coefficient.

[0170] Step 302b: Determine the rotation range of the target angle according to the vehicle rotation angle, the preset standard lane width, and the trigonometric relationship.

[0171] As another alternative, the rearview mirror controller includes a computing unit, which includes an AI computing module. The AI computing module includes a pre-trained AI model for rearview mirror turning angles. The AI computing module is configured to calculate the vehicle's target angle in real time based on a pre-set algorithm or model. Step 302 specifically includes determining the target angle based on a steering wheel angle signal, a vehicle speed signal, timing information, and the pre-trained AI model for rearview mirror turning angles.

[0172] Optionally, the rearview mirror turning angle AI model is:

[0173] P(M│V)=mM 5 +nN 2 +pP 3

[0174] Among them, M is the steering wheel turning angle, N is the steering wheel rotation time, P is the vehicle speed, m, n, and p are parameters to be calculated during the AI training process, and P(P│V) is the optimal target angle.

[0175] Optionally, the turn signal sensor collects the turn signal, and the driving domain controller also sends the turn signal to the rearview mirror controller. Step 302 specifically includes: obtaining a target angle according to the steering wheel angle signal, the vehicle speed signal, the turn signal, and the timing information.

[0176] Step 303: Control the rotation device to rotate according to the target angle, so that the rearview mirror rotates to the target angle.

[0177] In an embodiment of the present invention, a rearview mirror controller generates a motor control signal according to a target angle and sends the motor control signal to the rearview mirror motor. The rearview mirror motor controls the rotation device to rotate according to the motor control signal so that the rearview mirror rotates to the target angle.

[0178] In a technical solution for a rearview mirror adjustment method provided by an embodiment of the present invention, a timer is started upon receiving a steering wheel angle signal or a vehicle speed signal, generating timing information; a target angle is determined based on the steering wheel angle signal, the vehicle speed signal, and the timing information; and a rotation device is controlled based on the target angle to rotate the rearview mirror to the target angle. This embodiment of the present invention enables continuous adjustment of the rearview mirror based on the steering wheel angle signal and the vehicle speed signal, enabling more convenient and continuous observation of vehicles behind the desired lane change, and enabling rearview mirror adjustment throughout the entire process of vehicle steering and returning to the center of the vehicle.

[0179] based on Figure 7 The rearview mirror adjustment system shown in the figure, the embodiment of the present invention provides a rearview mirror adjustment method, which is applied to the rearview mirror adjustment system, such as Figure 11 As shown, the method includes:

[0180] Step 401: Obtain a target angle according to a steering wheel angle signal.

[0181] In the embodiment of the present invention, step 401 specifically includes: obtaining a steering wheel steering angle according to a steering wheel angle signal, and determining 1 / 2 of the steering wheel steering angle as a target angle.

[0182] Step 402: Control the rotation device to rotate according to the target angle so that the rearview mirror rotates to the target angle.

[0183] In a technical solution for a vehicle rearview mirror adjustment control method provided by an embodiment of the present invention, a target angle is obtained based on a steering wheel angle signal; a rotation device is controlled based on the target angle to rotate the rearview mirror to the target angle. This embodiment of the present invention enables continuous adjustment of the rearview mirror based on the steering wheel angle signal, enabling more convenient and continuous observation of vehicles behind the desired lane change, and enabling rearview mirror adjustment throughout the entire vehicle steering and return process.

[0184] An embodiment of the present invention further provides a microprocessor chip, comprising: a processor configured to call and execute a computer program from a memory, so that an electronic device equipped with the microprocessor chip executes the following steps:

[0185] The target angle is obtained according to the steering wheel angle signal, the vehicle speed signal and the timing information.

[0186] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0187] The vehicle's steering mode is determined to be a same-direction lane change based on the steering wheel angle signal, vehicle speed signal, and timing information, and the target angle is calculated;

[0188] or

[0189] The vehicle's steering mode is determined to be a lane change through the steering wheel angle signal, vehicle speed signal and timing information, and the target angle is calculated.

[0190] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0191] The method of obtaining the target angle based on the steering wheel angle signal, the vehicle speed signal and the timing information includes: determining the vehicle rotation angle based on the integral processing of the steering wheel angle signal and the timing information; and determining the target angle based on the integral processing and trigonometric relationship of the vehicle speed signal, the timing information and the vehicle rotation angle.

[0192] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0193] The method of determining the vehicle rotation angle based on the integral processing of the steering wheel angle signal and the timing information includes: multiplying the integral result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and the constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtaining the vehicle rotation angle based on the first result, a preset reference angle, and a correction coefficient.

[0194] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0195] The method of determining the target angle based on the integral processing and trigonometric relationship of the vehicle speed signal, timing information and vehicle rotation angle includes: obtaining the coordinates of the target position based on the integral result of the vehicle speed signal, timing information and vehicle rotation angle; and determining the target angle based on the coordinates of the target position and the trigonometric relationship.

[0196] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0197] Obtaining the target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information includes: determining the vehicle rotation angle based on the integration processing of the steering wheel angle signal and the timing information; and determining the rotation range of the target angle based on the vehicle rotation angle, a preset standard lane width, and a trigonometric relationship.

[0198] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0199] The target angle is obtained based on the steering wheel angle signal, vehicle speed signal, timing information and the rearview mirror turning angle AI model that has been pre-trained by AI.

[0200] Optionally, the rearview mirror turning angle AI model is:

[0201] P(M│V)=mM 5 +nN 2 +pP 3

[0202] Where M is the steering wheel turning angle, N is the steering wheel rotation time, and P is the vehicle speed. m, n, and p are parameters to be calculated during the AI training process, and P(P│V) is the optimal target angle.

[0203] An embodiment of the present invention further provides a microprocessor chip, comprising: a processor configured to call and execute a computer program from a memory, so that an electronic device equipped with the microprocessor chip (Microprocessor Unit, MPU) performs the following steps:

[0204] The target angle is obtained according to the steering wheel angle signal.

[0205] Optionally, the processor is specifically configured to call and run a computer program from a memory, so that the electronic device equipped with the microprocessor chip performs the following steps:

[0206] A steering wheel rotation angle is obtained according to the steering wheel angle signal, and 1 / 2 of the steering wheel rotation angle is determined as the target angle.

[0207] The MPU chip includes: a register, an ADC and a CPU; the register is used to store the vehicle signal; the ADC is used to sample the vehicle signal in the register and transmit the sampled data to the CPU; the CPU is used to perform relevant data processing and calculations on the sampled data to obtain the target angle, and generate a target angle adjustment signal based on the target angle.

[0208] Optionally, the MPU chip includes: an AI computing module, and the AI computing module is used to calculate the target angle in real time according to a set algorithm or model.

[0209] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A rearview mirror adjustment system, characterized in that: The system comprises: A steering wheel domain controller, configured to receive a steering wheel angle signal acquired by a steering wheel angle sensor and transmit the steering wheel angle signal to a rearview mirror controller; A driving domain controller, configured to receive a vehicle speed signal collected by a vehicle speed sensor and transmit the vehicle speed signal to the rearview mirror controller; The rearview mirror controller is configured to start timing and generate timing information after receiving the steering wheel angle signal or the vehicle speed signal, obtain a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information, generate a motor control signal based on the target angle, and send the motor control signal to the rearview mirror motor; The rearview mirror motor is used to control the rotation of the rotating device according to the motor control signal, so that the rearview mirror rotates to the target angle; The rearview mirror controller is configured to obtain a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information, specifically comprising: The rearview mirror controller is configured to determine a vehicle turning angle based on an integral process of the steering wheel angle signal and the timing information, and when the vehicle's steering mode is a same-direction lane change, further determine the target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle turning angle; When the vehicle's steering mode is a turn and lane change, the rearview mirror controller further determines a rotation range of the target angle based on the vehicle's turning angle, a preset standard lane width, and a trigonometric relationship; The rearview mirror controller is configured to determine the vehicle rotation angle based on the steering wheel angle signal and the integration of the timing information, specifically comprising: The rearview mirror controller is configured to obtain a first result by multiplying an integration result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and a constant ratio of the steering wheel steering angle and the tire steering angle, and then obtain the vehicle rotation angle based on the first result, a preset reference angle, and a correction coefficient; The rearview mirror controller is configured to determine the target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle rotation angle, specifically comprising: The rearview mirror controller is used to obtain the coordinates of the target position according to the vehicle speed signal, the timing information and the integration result of the vehicle rotation angle; and determine the target angle according to the coordinates of the target position and the trigonometric relationship.

2. The system according to claim 1, wherein: The rearview mirror controller includes a processing unit and a control unit; The processing unit is configured to start timing and generate timing information after receiving the steering wheel angle signal or the vehicle speed signal; The processing unit is further configured to obtain a target angle based on the steering wheel angle signal, the vehicle speed signal, and the timing information, and generate a target angle adjustment signal based on the target angle; The control unit is used to generate a motor control signal according to the target angle adjustment signal, and send the motor control signal to the rearview mirror motor.

3. The system according to claim 2, characterized in that The processing unit is specifically configured to determine, through the steering wheel angle signal, the vehicle speed signal, and the timing information, that the steering mode of the vehicle is a same-direction lane change, and calculate the target angle.

4. The system according to claim 2, wherein: The processing unit is specifically configured to determine that the steering mode of the vehicle is a lane change through the steering wheel angle signal, the vehicle speed signal, and the timing information, and calculate the target angle.

5. The system according to any one of claims 1 to 4, characterized in that: The steering wheel domain controller is further configured to receive a turn signal collected by a turn signal sensor and transmit the turn signal to the rearview mirror controller.

6. The system according to claim 2, wherein: The processing unit includes: an AI computing module; The AI computing module is used to calculate the target angle of the vehicle in real time according to a set algorithm or model.

7. The system according to claim 2, wherein: The processing unit includes: a register, an ADC and a CPU; The register is used to store vehicle signals, wherein the vehicle signals include the steering wheel angle signal and the vehicle speed signal; The ADC is used to sample the vehicle signal in the register and transmit the sampled data to the CPU; The CPU is configured to perform relevant data processing and calculation on the sampled data to obtain the target angle, and generate a target angle adjustment signal according to the target angle.

8. The system according to claim 2, wherein: The rearview mirror controller further includes: a second CAN transceiver and a second CAN controller; The second CAN transceiver is used to receive the voltage signal and convert the voltage signal into a CAN data packet binary signal; The second CAN controller is used to extract the steering wheel angle signal and the vehicle speed signal from the binary signal of the CAN data packet.

9. A rearview mirror adjustment method, characterized in that: Applied to a rearview mirror adjustment system, the method includes: After receiving the steering wheel angle signal or the vehicle speed signal, the timing is started and timing information is generated; obtaining a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information; controlling the rotation device to rotate according to the target angle so that the rearview mirror rotates to the target angle; Obtaining a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information specifically includes: The rearview mirror controller is configured to determine a vehicle turning angle based on an integral process of the steering wheel angle signal and the timing information, and when the vehicle's steering mode is a same-direction lane change, further determine the target angle based on an integral process and a trigonometric relationship of the vehicle speed signal, the timing information, and the vehicle turning angle; When the vehicle's steering mode is a turn and lane change, the rearview mirror controller further determines a rotation range of the target angle based on the vehicle's turning angle, a preset standard lane width, and a trigonometric relationship; The rearview mirror controller is configured to determine the vehicle rotation angle based on the steering wheel angle signal and the integration of the timing information, specifically comprising: The rearview mirror controller is configured to obtain a first result by multiplying an integration result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and a constant ratio of the steering wheel steering angle and the tire steering angle, and then obtain the vehicle rotation angle based on the first result, a preset reference angle, and a correction coefficient; The rearview mirror controller is configured to determine the target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle rotation angle, specifically comprising: The rearview mirror controller is used to obtain the coordinates of the target position according to the vehicle speed signal, the timing information and the integration result of the vehicle rotation angle; and determine the target angle according to the coordinates of the target position and the trigonometric relationship.

10. The method according to claim 9, characterized in that Obtaining a target angle according to the steering wheel angle signal, the vehicle speed signal, and the timing information specifically includes: determining, by means of the steering wheel angle signal, the vehicle speed signal, and the timing information, that the steering mode of the vehicle is a same-direction lane change, and calculating the target angle; or The steering mode of the vehicle is determined to be a lane change through the steering wheel angle signal, the vehicle speed signal and the timing information, and the target angle is calculated.

11. A microprocessor chip, which is deployed in a rearview mirror controller, characterized in that: The present invention comprises a processor configured to call and run a computer program from a memory, so that an electronic device equipped with the microprocessor chip performs the following steps: obtaining a target angle according to a steering wheel angle signal, a vehicle speed signal, and timing information; The target angle is obtained based on the steering wheel angle signal, vehicle speed signal and timing information, specifically including: determining a vehicle turning angle based on an integral process of the steering wheel angle signal and the timing information, and determining a target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle turning angle when the vehicle's steering mode is a same-direction lane change; When the vehicle's steering mode is a turn lane change, the target angle's rotation range is determined based on the vehicle's turning angle, a preset standard lane width, and a trigonometric relationship; The determining of the vehicle rotation angle based on the integration of the steering wheel angle signal and the timing information specifically includes: multiplying an integral result of the steering wheel angle signal and the timing information, the vehicle wheelbase, and a constant ratio of the steering wheel steering angle and the tire steering angle to obtain a first result, and then obtaining the vehicle rotation angle based on the first result, a preset reference angle, and a correction coefficient; Determining the target angle based on an integral process and a trigonometric relationship of a vehicle speed signal, the timing information, and the vehicle rotation angle specifically includes: The coordinates of the target position are obtained according to the integration result of the vehicle speed signal, the timing information and the vehicle rotation angle; and the target angle is determined according to the coordinates of the target position and the trigonometric relationship.

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