A method for controlling a vehicle rearview mirror and related components

Abstract

The present invention discloses a method for controlling a vehicle rearview mirror and related components. The processor calculates an integral, which is obtained based on the integral of the supply voltage and drive current of the drive motor. The integral is used to represent the position of the drive motor. The rotation direction is determined by the integral of the initial position and the integral of the target position. The integral representing the current position of the drive motor is obtained. When the integral of the current position reaches the integral of the target position, it is proved that the position of the rearview mirror reaches the position corresponding to the instruction for the user to send to control the rearview mirror to reach the target position. This method reduces costs and does not require the use of expensive potentiometers. The integral representing the position of the rearview mirror can be calculated through the software algorithm of the processor. When the integral of the current rearview mirror position reaches the integral of the rearview mirror target position, the rearview mirror memory function of the vehicle is completed, reducing costs and enabling mid - to - low - end vehicles to also have the rearview mirror memory function.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and particularly to a method for controlling a vehicle rearview mirror and related components. Background Art

[0002] With the development of technology, vehicles have more and more automated functions, and one of them is the rearview mirror memory function. Before applying this function, the user needs to preset the rearview mirror position they need. First, the user controls the adjustment button. At this time, the processor adjusts the rearview mirror position by driving the motor. Then, the user presses the setting button and then the memory button. The processor stores the rearview mirror position at this moment corresponding to the memory button. After that, when the user presses the memory button, the rearview mirror position corresponding to the memory button is selected.

[0003] The above process needs to utilize the potentiometer sensor of the vehicle. The potentiometer sensor is equivalent to a slide wire rheostat. Specifically, when the user controls the adjustment button, the driving motor rotates. While the driving motor rotates, it drives the resistance value of the slide wire rheostat to change. Then the voltage of the slide wire rheostat changes, which is equivalent to the voltage of the potentiometer changing. After adjusting the appropriate rearview mirror position, press the setting button and then the memory button. At this time, what the processor records is the voltage of the potentiometer at this moment. Since the rotation of the driving motor corresponds to the rearview mirror position, the voltage of the potentiometer can be corresponding to the rearview mirror position. After that, when the user only presses the memory button without pressing the setting button, the processor controls the driving motor to rotate until the voltage value of the potentiometer reaches the voltage corresponding to the memory button recorded by the processor, which is regarded as adjusting the rearview mirror position to the rearview mirror position corresponding to the memory button. Since the potentiometer is expensive, the cost is increased, so this device is usually only installed in high-end vehicles, resulting in mid-range and low-end vehicles not having the rearview mirror memory function. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for controlling a vehicle rearview mirror and related components, which reduces the cost and enables mid-range and low-end vehicles to also have the rearview mirror memory function.

[0005] To solve the above technical problems, the present invention provides a method for controlling a vehicle rearview mirror, and the method includes:

[0006] When receiving a target position memory instruction for the rearview mirror, obtaining a first target integral of the target horizontal position of the first driving motor and a second target integral of the target vertical position of the second driving motor;

[0007] When receiving an instruction to control the rearview mirror to reach the target position, obtaining a first initial integral of the initial horizontal position of the first driving motor and a second initial integral of the initial vertical position of the second driving motor;

[0008] When it is determined that the first target integral is different from the first initial integral, the first driving motor is controlled according to the first target integral and the first initial integral to drive the rearview mirror to rotate until the first current integral corresponding to the position of the first driving motor is equal to the first target integral;

[0009] When it is determined that the second target integral is different from the second initial integral, the second driving motor is controlled according to the second target integral and the second initial integral to drive the rearview mirror to rotate until the second current integral corresponding to the position of the second driving motor is equal to the second target integral;

[0010] Wherein, the first initial integral, the second initial integral, the first initial integral, the second initial integral, the first current integral and the second current integral are all obtained based on the integrals of the supply voltage and driving current of the first driving motor and the second driving motor.

[0011] Preferably, controlling the first driving motor to drive the rearview mirror to rotate according to the first target integral and the first initial integral includes:

[0012] Determining the first rotation direction of the first driving motor according to the first target integral and the first initial integral;

[0013] Controlling the first driving motor to drive the rearview mirror to rotate based on the first rotation direction;

[0014] Controlling the second driving motor to drive the rearview mirror to rotate according to the second target integral and the second initial integral includes:

[0015] Determining the second rotation direction of the second driving motor according to the second target integral and the second initial integral;

[0016] Controlling the second driving motor to drive the rearview mirror to rotate based on the second rotation direction.

[0017] Preferably, the method for obtaining the first current integral corresponding to the position of the first driving motor includes:

[0018] Obtaining the first supply voltage when the first driving motor rotates through a voltage acquisition module;

[0019] Obtaining the first driving current when the first driving motor rotates through the current acquisition module;

[0020] Determining the first current integral according to the first supply voltage and the first driving current;

[0021] The method for obtaining the second current integral corresponding to the position of the second drive motor includes:

[0022] Obtaining the second power supply voltage when the second drive motor rotates through a voltage acquisition module;

[0023] Obtaining the second drive current when the second drive motor rotates through the current acquisition module;

[0024] Determining the second current integral according to the second power supply voltage and the second drive current.

[0025] Preferably, the voltage acquisition module includes a first resistor and a second resistor;

[0026] One end of the first resistor is connected to the power supply of the first drive motor, the other end is connected to one end of the second resistor, and the common connection end is connected to the processing module, and the other end of the second resistor is grounded;

[0027] Obtaining the first power supply voltage when the first drive motor rotates through a voltage acquisition module, including:

[0028] Obtaining the first voltage at the common end of the first resistor and the second resistor;

[0029] Determining the first power supply voltage according to the relationship between the first voltage, the first resistor, the second resistor and the first power supply voltage;

[0030] The relationship is U d1 =U1*(R1 + R2) / R2, where U d1 is the first power supply voltage, U1 is the first voltage, R1 is the resistance value of the first resistor, and R2 is the resistance value of the second resistor;

[0031] Obtaining the second power supply voltage when the second drive motor rotates through a voltage acquisition module, including:

[0032] Obtaining the second voltage at the common end of the first resistor and the second resistor;

[0033] Determining the second power supply voltage according to the relationship between the second voltage, the first resistor, the second resistor and the second power supply voltage;

[0034] The relationship is U d2 =U2*(R1 + R2) / R2, where U d2 is the second power supply voltage, U2 is the second voltage, R1 is the resistance value of the first resistor, and R2 is the resistance value of the second resistor.

[0035] Preferably, the current acquisition module includes a third resistor and a fourth resistor;

[0036] The first end of the third resistor is connected to the processing module, the second end is connected to one end of the fourth resistor, and the common connection end is connected to the driving chip. The other end of the fourth resistor is grounded, and the driving chip is connected to the first driving motor and the second driving motor;

[0037] Obtaining a first driving current when the first driving motor rotates through the current acquisition module, including:

[0038] When the first driving motor rotates, obtaining a third voltage at the first end of the third resistor;

[0039] Determining the first driving current according to the relationship between the third voltage, the fourth resistor, and the first driving current. The relationship is I1 = U3 / R4, where I1 is the first driving current, U3 is the third voltage, and R4 is the resistance value of the fourth resistor;

[0040] Obtaining a second driving current when the second driving motor rotates through the current acquisition module, including:

[0041] When the second driving motor rotates, obtaining a fourth voltage at the first end of the third resistor;

[0042] Determining the second driving current according to the relationship between the fourth voltage, the fourth resistor, and the second driving current. The relationship is I2 = U4 / R4, where I2 is the second driving current, U4 is the fourth voltage, and R4 is the resistance value of the fourth resistor.

[0043] Preferably, the first current integration is specifically obtained through the following method:

[0044] Determining the first current integration according to the relationship between the first power supply voltage, the first driving current, and the first current integration. The relationship is ∑n1 = (1 / C e1 )*(∑U d1 -Ra*∑I1-L1*I1);

[0045] Where L1 is the equivalent inductance of the first driving motor, Ra is the equivalent resistance of the first driving motor, C e1 is the back electromotive force constant of the first driving motor, U d1 is the first power supply voltage, I1 is the first driving current, and ∑n1 is the first current integration.

[0046] Preferably, the second current integration is specifically obtained through the following method:

[0047] Determining the second current integration according to the relationship between the second power supply voltage, the second driving current, and the second current integration. The relationship is ∑n2 = (1 / Ce2 )*(∑U d2 -Rb*∑I2 - L2*I2);

[0048] Where L2 is the equivalent inductance of the second drive motor, Rb is the equivalent resistance of the second drive motor, C e2 is the back electromotive force constant of the second drive motor, U d2 is the second power supply voltage, I2 is the second drive current, and ∑n2 is the second current integral.

[0049] To solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle rearview mirror control method as described above are implemented.

[0050] To solve the above technical problems, the present invention also provides a vehicle rearview mirror control device, including:

[0051] A memory for storing a computer program;

[0052] A processor for executing the computer program to implement the steps of the vehicle rearview mirror control method as described above.

[0053] To solve the above technical problems, the present invention also provides a vehicle, including the vehicle rearview mirror control device as described above.

[0054] This application provides a vehicle rearview mirror control method and related components. The processor calculates an integral, which is obtained by integrating the supply voltage and drive current of the drive motor. The integral represents the position of the drive motor. The rotation direction is determined by the integral of the initial position and the integral of the target position. The integral representing the current position of the drive motor is obtained. When the integral of the current position reaches the integral of the target position, it proves that the position of the rearview mirror reaches the position corresponding to the instruction for the user to control the rearview mirror to reach the target position. This method reduces costs and does not require the use of expensive potentiometers. The integral representing the position of the rearview mirror can be calculated through the software algorithm of the processor. When the integral of the current rearview mirror position reaches the integral of the rearview mirror target position, the rearview mirror memory function of the vehicle is completed, reducing costs and enabling mid-range and low-end vehicles to also have the rearview mirror memory function. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the prior art and the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0056] Figure 1 Flow chart of a vehicle rearview mirror control method provided by the present invention;

[0057] Figure 2 Schematic diagram of defining the current direction provided by the present invention;

[0058] Figure 3 Schematic diagram of the structures of a voltage sampling module and a current sampling module provided by the present invention;

[0059] Figure 4 Schematic diagram of the structure of a DC motor model provided by the present invention;

[0060] Figure 5 Schematic diagram of the structure of a vehicle rearview mirror control device provided by the present invention. Specific embodiments

[0061] The core of the present invention is to provide a vehicle rearview mirror control method and related components, which reduce the cost and enable mid - to - low - end vehicles to also have the rearview mirror memory function.

[0062] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] Please refer to Figure 1 , Figure 1 Flow chart of a vehicle rearview mirror control method provided by the present invention. The method includes:

[0064] S11: When receiving the target position memory instruction of the rearview mirror, obtain the first target integral of the target horizontal position of the first drive motor and the second target integral of the target vertical position of the second drive motor;

[0065] S12: When receiving the instruction to control the rearview mirror to reach the target position, obtain the first initial integral of the initial horizontal position of the first drive motor and the second initial integral of the initial vertical position of the second drive motor;

[0066] S13: When determining that the first target integral and the first initial integral are different, control the first drive motor to drive the rearview mirror to rotate according to the first target integral and the first initial integral until the first current integral corresponding to the position of the first drive motor is equal to the first target integral;

[0067] S14: When it is determined that the second target integral is different from the second initial integral, control the second drive motor to drive the rearview mirror to rotate according to the second target integral and the second initial integral until the second current integral corresponding to the position of the second drive motor is equal to the second target integral;

[0068] Among them, the first initial integral, the second initial integral, the first initial integral, the second initial integral, the first current integral, and the second current integral are all obtained based on the integrals of the supply voltages and drive currents of the first drive motor and the second drive motor.

[0069] In this embodiment, the processor calculates the integral to represent the position of the drive motor. At the same time, the position of the drive motor can represent the position of the rearview mirror. Therefore, the processor can calculate the integral to represent the position of the rearview mirror. In the step of memorizing the position of the rearview mirror, when receiving the target position memorizing instruction of the rearview mirror, the processor will record the integral value corresponding to the target position at this time. During the control process, that is, when the user hopes to adjust the current position of the rearview mirror to the target position, when receiving the instruction to control the rearview mirror to reach the target position, obtain the integral value of the position of the rearview mirror at this time, that is, the integral value of the initial position. Based on the integral value of the target position and the integral value of the initial position, control the drive motor to drive the rearview mirror to rotate until the current integral corresponding to the position of the drive motor is equal to the target integral. After the integral value reaches the target integral, it means that the position of the motor reaches the target position, that is, the position of the rearview mirror reaches the target position. The memory function of the rearview mirror is completed through the software algorithm, which reduces the cost and enables mid - to - low - end vehicles to also have the rearview mirror memory function.

[0070] Specifically, the drive motors for controlling the rearview mirror include a motor for controlling horizontal rotation and a motor for controlling vertical rotation of the rearview mirror. When receiving the target position memory instruction for the rearview mirror, the first target integral of the target horizontal position of the first drive motor and the second target integral of the target vertical position of the second drive motor are obtained. When receiving the instruction to control the rearview mirror to reach the target position, the first initial integral of the initial horizontal position of the first drive motor and the second initial integral of the initial vertical position of the second drive motor are obtained. When it is determined that the first target integral and the first initial integral are different, the first drive motor is controlled to drive the rearview mirror to rotate based on the first target integral and the first initial integral until the first current integral corresponding to the position of the first drive motor is equal to the first target integral. When it is determined that the second target integral and the second initial integral are different, the second drive motor is controlled to drive the rearview mirror to rotate based on the second target integral and the second initial integral until the second current integral corresponding to the position of the second drive motor is equal to the second target integral. After the current integral reaches the target integral, it means that the position of the drive motor reaches the target position, and thus the position of the rearview mirror can reach the target position. At the same time, both the horizontal position and the vertical position of the rearview mirror need to reach the target position. Therefore, it is necessary to control the first drive motor and the second drive motor to reach their respective target positions, that is, to make the first current integral equal to the first target integral and the second current integral equal to the second target integral, which improves the reliability of the solution.

[0071] It should be noted that the first initial integral, the second initial integral, the first initial integral, the second initial integral, the first current integral, and the second current integral are all obtained based on the integral of the supply voltage and drive current of the first drive motor and the second drive motor.

[0072] It should be noted that in the actual control process, the first drive motor and the second drive motor need to be controlled separately and not simultaneously. No additional limitation is made here.

[0073] Generally speaking, the present application provides a method for controlling a vehicle rearview mirror. The processor calculates the integral, which is obtained based on the integral of the supply voltage and drive current of the drive motor. The integral is used to represent the position of the drive motor. The rotation direction is determined by the integral of the initial position and the integral of the target position. The integral representing the current position of the drive motor is obtained. When the integral of the current position reaches the integral of the target position, it is proved that the position of the rearview mirror reaches the position corresponding to the instruction for controlling the rearview mirror to reach the target position sent by the user. This method reduces the cost and does not require the use of expensive potentiometers. The integral that can represent the position of the rearview mirror is calculated through the software algorithm of the processor. When the integral of the current rearview mirror position reaches the integral of the rearview mirror target position, the rearview mirror memory function of the vehicle is completed, reducing the cost and enabling mid - to - low - end vehicles to also have the rearview mirror memory function.

[0074] Based on the above embodiments:

[0075] Please refer to Figure 2 , Figure 2 which is a schematic diagram for defining the current direction provided by the present invention.

[0076] As a preferred embodiment, controlling the first driving motor to drive the rearview mirror to rotate according to the first target integral and the first initial integral includes:

[0077] Determining the first rotation direction of the first driving motor according to the first target integral and the first initial integral;

[0078] Controlling the first driving motor to drive the rearview mirror to rotate based on the first rotation direction;

[0079] Controlling the second driving motor to drive the rearview mirror to rotate according to the second target integral and the second initial integral includes:

[0080] Determining the second rotation direction of the second driving motor according to the second target integral and the second initial integral;

[0081] Controlling the second driving motor to drive the rearview mirror to rotate based on the second rotation direction.

[0082] In this embodiment, when the driving motor rotates, it is necessary to determine the rotation direction of the driving motor. For example, whether the initial position of the driving motor is before or after the target position, it is necessary to make the driving motor rotate towards the target position. However, the initial position of the driving motor being before or after the target position are two opposite directions. Determining the rotation direction of the driving motor according to the target integral and the initial integral, and controlling the first driving motor to drive the rearview mirror to rotate based on the rotation direction. For example, if the initial integral value is less than the target integral value, the motor can be controlled to rotate forward; if the initial integral value is greater than the target integral value, the motor can be controlled to rotate in reverse. Here, it can be set adaptively, not uniquely, which increases the flexibility and reliability of the solution.

[0083] It should be noted that here it can be defined by oneself. Define the current in the horizontal right direction as positive, the current in the left direction as negative, and the left blocked rotation position as the horizontal zero position; define the current in the vertical downward direction as positive, the current in the vertical upward direction as negative, and the vertical upward blocked rotation position as the vertical zero position. It can be seen that by controlling the direction of the current, the rotation direction of the driving motor can be controlled.

[0084] As a preferred embodiment, the method for obtaining the first current integral corresponding to the position of the first driving motor includes:

[0085] Obtaining the first supply voltage when the first driving motor rotates through a voltage acquisition module;

[0086] Obtaining the first driving current when the first driving motor rotates through a current acquisition module;

[0087] Determine the first current integral according to the first power supply voltage and the first driving current;

[0088] The method for obtaining the second current integral corresponding to the position of the second driving motor includes:

[0089] Obtain the second power supply voltage when the second driving motor rotates through the voltage acquisition module;

[0090] Obtain the second driving current when the second driving motor rotates through the current acquisition module;

[0091] Determine the second current integral according to the second power supply voltage and the second driving current.

[0092] When determining the current integral corresponding to the position of the driving motor, obtain the driving current when the driving motor rotates through the current acquisition module, and obtain the power supply voltage when the driving motor rotates through the voltage acquisition module. When calculating the current integral corresponding to the position of the driving motor, it is calculated based on the power supply voltage when the driving motor rotates and the driving current when the driving motor rotates. Specifically, obtain the first power supply voltage when the first driving motor rotates through the voltage acquisition module, obtain the first driving current when the first driving motor rotates through the current acquisition module, determine the first current integral according to the first power supply voltage and the first driving current, obtain the second power supply voltage when the second driving motor rotates through the voltage acquisition module, obtain the second driving current when the second driving motor rotates through the current acquisition module, and determine the second current integral according to the second power supply voltage and the second driving current. The processor obtains the integral value in real time, and can calculate the integral value accurately in real time according to the changes of the power supply voltage and the driving current, improving the reliability of the solution.

[0093] It should be noted that the obtained power supply voltage is the voltage value of the storage battery. The storage battery is connected to the driving motor, so it is the power supply voltage of the driving motor.

[0094] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a voltage sampling module and a current sampling module provided by the present invention.

[0095] As a preferred embodiment, the voltage acquisition module includes a first resistor Ry1 and a second resistor Ry2;

[0096] One end of the first resistor Ry1 is connected to the power supply of the first driving motor, the other end is connected to one end of the second resistor Ry2, and the common connection end is connected to the processing module. The other end of the second resistor Ry2 is grounded;

[0097] The method for obtaining the first power supply voltage when the first driving motor rotates through the voltage acquisition module includes:

[0098] Obtain the first voltage at the common terminal of the first resistor Ry1 and the second resistor Ry2;

[0099] Determine the first supply voltage according to the relationship between the first voltage, the first resistor Ry1, the second resistor Ry2, and the first supply voltage;

[0100] The relationship is U d1 = U1 * (R1 + R2) / R2, where U d1 is the first supply voltage, U1 is the first voltage, R1 is the resistance value of the first resistor Ry1, and R2 is the resistance value of the second resistor Ry2;

[0101] Obtain the second supply voltage when the second drive motor rotates through the voltage acquisition module, including:

[0102] Obtain the second voltage at the common terminal of the first resistor Ry1 and the second resistor Ry2;

[0103] Determine the second supply voltage according to the relationship between the second voltage, the first resistor Ry1, the second resistor Ry2, and the second supply voltage;

[0104] The relationship is U d2 = U2 * (R1 + R2) / R2, where U d2 is the second supply voltage, U2 is the second voltage, R1 is the resistance value of the first resistor Ry1, and R2 is the resistance value of the second resistor Ry2.

[0105] The voltage acquisition module is composed of the first resistor Ry1 and the second resistor Ry2. In fact, what the processor obtains is the voltage value, and it is the first voltage at the common terminal of the first resistor Ry1 and the second resistor Ry2. Then, according to the relationship between the first resistor Ry1 and the second resistor Ry2, the supply voltage of the battery can be calculated, that is, the supply voltage when the drive motor rotates. Specifically, obtain the first voltage at the common terminal of the first resistor Ry1 and the second resistor Ry2, and determine the first supply voltage according to the relationship between the first voltage, the first resistor Ry1, the second resistor Ry2, and the first supply voltage. In this way, one of the elements for calculating the first current integral is obtained. Obtain the second voltage at the common terminal of the first resistor Ry1 and the second resistor Ry2, and determine the second supply voltage according to the relationship between the second voltage, the first resistor Ry1, the second resistor Ry2, and the second supply voltage. In this way, one of the elements for calculating the second current integral is obtained, improving the reliability and feasibility of the solution.

[0106] As a preferred embodiment, the current acquisition module includes a third resistor Ry3 and a fourth resistor Ry4;

[0107] The first end of the third resistor Ry3 is connected to the processing module, the second end is connected to one end of the fourth resistor Ry4, and the common connection end is connected to the drive chip. The other end of the fourth resistor Ry4 is grounded, and the drive chip is connected to the first drive motor and the second drive motor;

[0108] Obtaining the first drive current when the first drive motor rotates through the current acquisition module includes:

[0109] When the first drive motor rotates, obtaining the third voltage at the first end of the third resistor Ry3;

[0110] Determining the first drive current according to the relationship between the third voltage, the fourth resistor Ry4 and the first drive current. The relationship is I1 = U3 / R4, where I1 is the first drive current, U3 is the third voltage, and R4 is the resistance value of the fourth resistor Ry4;

[0111] Obtaining the second drive current when the second drive motor rotates through the current acquisition module includes:

[0112] When the second drive motor rotates, obtaining the fourth voltage at the first end of the third resistor Ry3;

[0113] Determining the second drive current according to the relationship between the fourth voltage, the fourth resistor Ry4 and the second drive current. The relationship is I2 = U4 / R4, where I2 is the second drive current, U4 is the fourth voltage, and R4 is the resistance value of the fourth resistor Ry4.

[0114] The current acquisition module is composed of the third resistor Ry3 and the fourth resistor Ry4. What the processor collects is the voltage at the first end of the third resistor Ry3. Then the ratio of the voltage to the fourth resistor Ry4 is the drive current of the drive chip, and the drive current of the drive chip is the same as the current of the drive motor. So the current of the drive motor is obtained. Specifically, when the first drive motor rotates, the third voltage at the first end of the third resistor Ry3 is obtained, and the first drive current is determined according to the relationship between the third voltage, the fourth resistor Ry4 and the first drive current. When the second drive motor rotates, the fourth voltage at the first end of the third resistor Ry3 is obtained, and the second drive current is determined according to the relationship between the fourth voltage, the fourth resistor Ry4 and the second drive current. Based on this, the elements for calculating the first current integral and the second current integral are obtained.

[0115] Please refer to Figure 4 , Figure 4 , which is a schematic structural diagram of a DC motor model provided by the present invention.

[0116] As a preferred embodiment, the first current integral is specifically obtained in the following manner:

[0117] Determine the first current integral according to the relationship between the first supply voltage, the first drive current, and the first current integral. The relationship is ∑n1 = (1 / C e1 ) * (∑U d1 - Ra * ∑I1 - L1 * I1);

[0118] where L1 is the equivalent inductance of the first drive motor, Ra is the equivalent resistance of the first drive motor, C e1 is the back electromotive force constant of the first drive motor, U d1 is the first supply voltage, I1 is the first drive current, and ∑n1 is the first current integral.

[0119] First, according to the ideal DC motor model:

[0120] Armature circuit voltage balance equation:

[0121] E is the armature back electromotive force of drive motor 1, which is proportional to the magnetic flux and the rotational speed, and its direction is opposite to the armature voltage U d0 Conversely, Id is the drive current, R is the equivalent resistance of drive motor 1, L is the equivalent inductance of drive motor 1, and t is time.

[0122] E = C e n (2)

[0123] Ce is the back electromotive force constant of drive motor 1, and n is the rotational speed of drive motor 1.

[0124] Substitute formula (2) into formula (1) to obtain:

[0125]

[0126] Divide both sides of formula (3) by the constant Ce to obtain:

[0127]

[0128] Integrate both sides of formula (4) to obtain:

[0129] ∑n = (1 / C e ) * (∑U d0 - R * ∑I - L * I) (5)

[0130] It can be seen from this that the integral value is related to the voltage and current because L, R, and Ce are all constants.

[0131] Therefore, the integral value representing the position of drive motor 1 is only related to the supply voltage and the drive current, that is, the position of the rearview mirror is real-time related to the current supply voltage and the drive current.

[0132] Based on Equation (5), it can be obtained that the first current integral is specifically obtained in the following manner:

[0133] Determine the first current integral according to the relationship between the first supply voltage, the first drive current, and the first current integral. The relationship is ∑n1 = (1 / C e1 ) * (∑U d1 - Ra * ∑I1 - L1 * I1). The specific method for obtaining the integral value in this application increases the reliability of the solution.

[0134] As a preferred embodiment, the second current integral is specifically obtained in the following manner:

[0135] Determine the second current integral according to the relationship between the second supply voltage, the second drive current, and the second current integral. The relationship is ∑n2 = (1 / C e2 ) * (∑U d2 - Rb * ∑I2 - L2 * I2);

[0136] where L2 is the equivalent inductance of the second drive motor, Rb is the equivalent resistance of the second drive motor, C e2 is the back electromotive force constant of the second drive motor, U d2 is the second supply voltage, I2 is the second drive current, and ∑n2 is the second current integral.

[0137] First, according to the ideal DC motor model:

[0138] Armature circuit voltage balance equation:

[0139] E is the armature back electromotive force of drive motor 1, which is proportional to the magnetic flux and the rotational speed, and its direction is opposite to the armature voltage U d0 Id is the drive current, R is the equivalent resistance of drive motor 1, L is the equivalent inductance of drive motor 1, and t is the time.

[0140] E = C e n(2)

[0141] Ce is the back electromotive force constant of drive motor 1, and n is the rotational speed of drive motor 1.

[0142] Substitute Equation (2) into Equation (1) to obtain:

[0143]

[0144] Divide both sides of Equation (3) by the constant Ce to obtain:

[0145]

[0146] Integrate both sides of Equation (4) to obtain:

[0147] ∑n=(1 / C e )*(∑U d0 -R*∑I - L*I)(5)

[0148] It can be seen from this that the integral value is related to voltage and current, because L, R, and Ce are all constants.

[0149] Therefore, the integral value representing the position of the drive motor 1 is only related to the supply voltage and drive current, that is, the position of the rearview mirror is related to the supply voltage and drive current at this moment in real time.

[0150] Based on formula (5), it can be obtained that the second current integral is specifically obtained in the following manner:

[0151] Determine the second current integral according to the relationship between the second supply voltage, the second drive current, and the second current integral. The relationship is ∑n2=(1 / C e2 )*(∑U d2 -Rb*∑I2 - L2*I2). The specific method for obtaining the integral value in this application increases the reliability of the solution.

[0152] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle rearview mirror control method as described above are implemented.

[0153] For the introduction of the computer-readable storage medium provided by the present invention, please refer to the embodiments of the vehicle rearview mirror control method above, and details will not be described here.

[0154] Please refer to Figure 5 , Figure 5 , which is a schematic structural diagram of a vehicle rearview mirror control device provided by the present invention.

[0155] The present invention also provides a vehicle rearview mirror control device, including:

[0156] A memory 21 for storing a computer program;

[0157] A processor 22 for executing the computer program to implement the steps of the vehicle rearview mirror control method as described above.

[0158] For the introduction of the vehicle rearview mirror control device provided by the present invention, please refer to the embodiments of the vehicle rearview mirror control method above, and details will not be described here.

[0159] The present invention also provides a vehicle, including the vehicle rearview mirror control device as described above.

[0160] For the introduction of the vehicle provided by the present invention, please refer to the embodiments of the vehicle rearview mirror control method above, and details will not be described here.

[0161] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description in the method section.

[0162] Those skilled in the art can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

Claims

1. A vehicle rearview mirror control method, characterized in that, Including: When receiving a target position memory instruction for the rearview mirror, obtaining a first target integral of the target horizontal position of the first driving motor and a second target integral of the target vertical position of the second driving motor; When receiving an instruction to control the rearview mirror to reach the target position, obtaining a first initial integral of the initial horizontal position of the first driving motor and a second initial integral of the initial vertical position of the second driving motor; When determining that the first target integral and the first initial integral are different, controlling the first driving motor to drive the rearview mirror to rotate according to the first target integral and the first initial integral until the first current integral corresponding to the position of the first driving motor is equal to the first target integral; When determining that the second target integral and the second initial integral are different, controlling the second driving motor to drive the rearview mirror to rotate according to the second target integral and the second initial integral until the second current integral corresponding to the position of the second driving motor is equal to the second target integral; Wherein, the first initial integral, the second initial integral, the first initial integral, the second initial integral, the first current integral and the second current integral are all obtained based on the integral of the supply voltage and driving current of the first driving motor and the second driving motor; the integral is calculated by the software algorithm of the processor; the first driving motor and the second driving motor need to be controlled separately and not rotated simultaneously; Correspondingly, the obtaining method of the first current integral corresponding to the position of the first driving motor includes: Obtaining the first supply voltage when the first driving motor rotates through a voltage acquisition module; Obtaining the first driving current when the first driving motor rotates through a current acquisition module; Determining the first current integral according to the first supply voltage and the first driving current; The obtaining method of the second current integral corresponding to the position of the second driving motor includes: Obtaining the second supply voltage when the second driving motor rotates through a voltage acquisition module; Obtaining the second driving current when the second driving motor rotates through the current acquisition module; Determining the second current integral according to the second supply voltage and the second driving current; wherein, the integral value is only related to the position of the rearview mirror and the corresponding supply voltage and driving current in real time; Correspondingly, the first current integral is specifically obtained by the following method: Determine the first current integration according to the relational expression of the first power supply voltage, the first drive current, and the first current integration, where the relational expression is ; where L1 is the equivalent inductance of the first drive motor, Ra is the equivalent resistance of the first drive motor, C e1 is the back electromotive force constant of the first drive motor, U d1 is the first power supply voltage, I1 is the first drive current, is the first current integral; Correspondingly, the second current integral is specifically obtained by the following method: Determine the second current integration according to the relational expression between the second power supply voltage, the second drive current, and the second current integration, where the relational expression ; where L2 is the equivalent inductance of the second drive motor, Rb is the equivalent resistance of the second drive motor, C e2 is the back electromotive force constant of the second drive motor, U d2 is the second power supply voltage, I2 is the second drive current, is the second current integral.

2. The vehicle rearview mirror control method according to claim 1, characterized in that, Controlling the first driving motor to drive the rearview mirror to rotate according to the first target integral and the first initial integral includes: Determining the first rotation direction of the first driving motor according to the first target integral and the first initial integral; Controlling the first driving motor to drive the rearview mirror to rotate based on the first rotation direction; Controlling the second driving motor to drive the rearview mirror to rotate according to the second target integral and the second initial integral includes: Determining the second rotation direction of the second driving motor according to the second target integral and the second initial integral; Control the second driving motor to drive the rearview mirror to rotate based on the second rotation direction.

3. The vehicle rearview mirror control method according to claim 1, wherein The voltage acquisition module includes a first resistor and a second resistor; One end of the first resistor is connected to the power supply of the first driving motor, the other end is connected to one end of the second resistor, and the common connection end is connected to the processing module, and the other end of the second resistor is grounded; Obtaining the first supply voltage when the first driving motor rotates through the voltage acquisition module includes: Obtaining the first voltage at the common end of the first resistor and the second resistor; Determine the first supply voltage according to the relationship between the first voltage, the first resistor, the second resistor and the first supply voltage; The relational expression is U d1 =U1*(R1 + R2) / R2, where U d1 is the first power supply voltage, U1 is the first voltage, R1 is the resistance value of the first resistor, and R2 is the resistance value of the second resistor; Obtaining the second supply voltage when the second driving motor rotates through the voltage acquisition module includes: Obtaining the second voltage at the common end of the first resistor and the second resistor; Determine the second supply voltage according to the relationship between the second voltage, the first resistor, the second resistor and the second supply voltage; The relational expression is U d2 = U2 * (R1 + R2) / R2, where U d2 is the second power supply voltage, U2 is the second voltage, R1 is the resistance value of the first resistor, and R2 is the resistance value of the second resistor.

4. The vehicle rearview mirror control method according to claim 1, wherein, The current acquisition module includes a third resistor and a fourth resistor; The first end of the third resistor is connected to the processing module, the second end is connected to one end of the fourth resistor, and the common connection end is connected to the driving chip. The other end of the fourth resistor is grounded, and the driving chip is connected to the first driving motor and the second driving motor; Obtaining the first driving current when the first driving motor rotates through the current acquisition module includes: When the first driving motor rotates, obtain the third voltage at the first end of the third resistor; Determine the first driving current according to the relationship between the third voltage, the fourth resistor and the first driving current. The relationship is I1 = U3 / R4, where I1 is the first driving current, U3 is the third voltage, and R4 is the resistance value of the fourth resistor; Obtaining the second driving current when the second driving motor rotates through the current acquisition module includes: When the second driving motor rotates, obtain the fourth voltage at the first end of the third resistor; Determine the second driving current according to the relationship between the fourth voltage, the fourth resistor and the second driving current. The relationship is I2 = U4 / R4, where I2 is the second driving current, U4 is the fourth voltage, and R4 is the resistance value of the fourth resistor.

5. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the vehicle rearview mirror control method according to any one of claims 1 to 4 are implemented.

6. A vehicle rearview mirror control device, characterized in that, Including: A memory for storing a computer program; A processor for executing the computer program to implement the steps of the vehicle rearview mirror control method according to any one of claims 1 to 4.

7. A vehicle, characterized in that, Including the vehicle rearview mirror control device according to claim 6.

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