Electronic Class II exterior rearview mirror that can replace the original optical rearview mirror

Abstract

The present invention provides an electronic type II exterior rearview mirror capable of replacing an original optical rearview mirror, comprising: a collection module for collecting a left real-time image of the left rear of a vehicle and a right real-time image of the right rear of a vehicle, and at the same time, also collecting the start-up state of the vehicle turn signal lamp; an analysis module for establishing an environmental model of the vehicle based on the left real-time image and the right real-time image, judging whether the vehicle has a turning condition according to the direction corresponding to the target turn signal lamp in the start-up state, and generating a turning prohibition instruction if the vehicle does not have the turning condition; a display module for displaying the turning prohibition instruction and the environmental model, so as to replace the traditional rearview mirror, provide the driver with rear driving information, and provide the driver with turning guidance according to the driver's turning information, thereby ensuring the driving safety of the driver to a certain extent.

Description

Technical Field

[0001] The invention relates to the technical field of automobile equipment, and in particular to an electronic type II exterior rearview mirror capable of replacing an original optical rearview mirror. Background Art

[0002] The rearview mirror can reflect the situation behind, to the side and below the car, so that the driver can indirectly see the situation in these positions. It plays the role of "second eye" and expands the driver's field of vision. With the increasing demand for safety, comfort and intelligence of automobile products, drivers' requirements for rearview mirrors are also gradually increasing.

[0003] At present, all rearview mirrors on the market are optical rearview mirrors, which can only display the situation behind the car. In fact, it is a bad driving habit for drivers to frequently look at the rearview mirror while driving. In view of the above shortcomings, an electronic type II exterior rearview mirror that can replace the original optical rearview mirror is proposed. The electronic rearview mirror replaces the traditional optical rearview mirror, which can not only provide the driver with rear driving information, but also provide steering guidance for the driver according to the driver's steering information, thereby ensuring the driver's driving safety to a certain extent. Summary of the invention

[0004] The electronic type II exterior rearview mirror provided by the present invention can replace the original optical rearview mirror. The electronic rearview mirror is used to replace the optical rearview mirror. It can not only provide the driver with rear driving information, but also provide the driver with steering guidance according to the driver's steering information, thereby ensuring the driver's driving safety to a certain extent.

[0005] The electronic type II exterior rearview mirror provided by the present invention, which can replace the original optical rearview mirror, comprises:

[0006] A collection module, used to collect a left live image of the left rear of the vehicle and a right live image of the right rear of the vehicle, and at the same time, also collect the activation status of the vehicle turn signal lamp;

[0007] an analysis module, configured to establish an environment model of the vehicle based on the left live image and the right live image, and determine whether the vehicle has a turning condition according to a direction corresponding to a target turn signal in an activated state, and if not, generate a turning prohibition instruction;

[0008] A display module is used to display the prohibition turning instruction and the environmental model.

[0009] In one practicable manner,

[0010] The acquisition module comprises:

[0011] A left image unit, used for collecting a left live image of the left rear of the vehicle and transmitting the image to the analysis module;

[0012] A right image unit, used for collecting a right live image of the right rear of the vehicle and transmitting the image to the analysis module;

[0013] The state acquisition unit is connected to the left turn signal lamp and the right turn signal lamp of the vehicle respectively, and is used to respectively acquire the activation states of the left turn signal lamp and the right turn signal lamp and transmit the activation states to the analysis module.

[0014] In one practicable manner,

[0015] The analysis module comprises:

[0016] A network unit, used for acquiring the real-time road condition of the road section where the vehicle is located according to the current position of the vehicle;

[0017] A modeling unit, used to establish an environment model based on the real-time road conditions and the left live image and the right live image, and to establish a virtual vehicle based on the model of the vehicle;

[0018] An analysis unit, used for inputting the virtual vehicle into the environment model to determine whether there is an obstacle in the direction in which the vehicle is to turn;

[0019] If so, a prohibit turning instruction is generated.

[0020] In one practicable manner,

[0021] The analysis unit is further used for:

[0022] Based on the position of the virtual vehicle in the environment model, determining whether the vehicle touches a solid line on a road surface;

[0023] If so, generate a reminder instruction.

[0024] In one practicable manner,

[0025] The display module comprises:

[0026] The left image display unit is arranged below the vehicle cab window and is used to display the left live image;

[0027] The right image display unit is arranged below the window of the co-driver's cabin of the vehicle and is used to display the right live image;

[0028] The instruction display unit is used to display the prohibition turning instruction.

[0029] In one practicable manner,

[0030] The analysis unit is further used to continuously obtain the movement trajectory of the virtual vehicle based on the position of the virtual vehicle in the environment model;

[0031] Obtain all inflection points included in the movement trajectory, and respectively obtain the inflection point acceleration corresponding to each inflection point;

[0032] Extracting a target acceleration corresponding to a historical turning point consistent with a desired turning direction of the vehicle;

[0033] Dividing the moving trajectory into a plurality of moving segments according to a preset time period, and obtaining a moving speed corresponding to each moving segment respectively;

[0034] Obtaining the speed limit requirement of the road section where the vehicle is located from the network unit, and generating an average moving speed of the vehicle and a normal moving speed range according to the moving speed corresponding to each moving section;

[0035] Acquire the current moving speed of the vehicle in the environment model, and perform feature training in combination with the target turning point acceleration to generate a first forward speed of the vehicle driver in the desired turning direction;

[0036] determining whether the first forward speed is within the normal moving speed range;

[0037] If not, based on the minimum difference between the first forward speed and the normal moving speed interval, generating a speed adjustment parameter, adjusting the first forward speed, and generating a second forward speed;

[0038] Obtaining respectively the transition time corresponding to the vehicle returning to the average moving speed after turning at each historical turning point;

[0039] According to the transition duration and the forward speed, and in combination with the current position of the virtual vehicle, marking in the environment model a transition trajectory of the virtual vehicle after turning at the current moment;

[0040] Determining whether the transition trajectory contains an obstacle;

[0041] If yes, determining that the vehicle does not meet the turning condition at the current moment, generating a turning prohibition instruction;

[0042] The next transition trajectory corresponding to the next moment is obtained and judged until the virtual vehicle meets the turning condition, and the vehicle is reminded to turn.

[0043] In one practicable manner,

[0044] The analysis unit is also used to generate suggestion information when there are no turning conditions for a preset number of consecutive moments, suggesting that the driver continue along the current road.

[0045] In one practicable manner,

[0046] The display module further includes:

[0047] A control unit, used for controlling the working states of the left image display unit and the right image display unit according to a state instruction issued by the driver;

[0048] Wherein, the working state includes an electronic display state and an optical display state. When the left image display unit and the right image display unit are in the electronic display state, the corresponding left live image and right live image are displayed respectively. When the left image display unit and the right image display unit are in the optical display state, they act as optical rearview mirrors for the driver to observe the situation behind the vehicle.

[0049] The control unit is further configured to generate an image acquisition instruction when the left image display unit and the right image display unit are in an optical display state;

[0050] An image acquisition unit, configured to acquire a facial image of the driver based on the image acquisition instruction; the control unit, further configured to acquire facial features of the driver based on the facial image, and acquire the facial features in the historical record;

[0051] If the acquisition fails, it is determined that the driver is driving for the first time, and the facial features are input into the historical record and stored;

[0052] If the acquisition is successful, extract the historical driving information corresponding to the driver and obtain the driver's historical angle adjustment information from the historical driving information;

[0053] The control unit is further used to generate a first adjustment amount based on the historical angle adjustment information, and adjust the left image display unit and the right image display unit respectively, and the first angle and the second angle corresponding to the left image display unit and the right image display unit respectively after adjustment;

[0054] The control unit is further used to collect a target fixed point on the driver's facial image, and determine the driver's driving seat position information based on the position of the target fixed point on the facial image;

[0055] At the same time, acquiring an eye image of the driver on the facial image;

[0056] Determining the driver's gaze activity range based on the driving seat position information and the eye image;

[0057] Based on the gaze activity range, respectively acquiring a left image range and a right image range corresponding to the adjusted left image display unit and the adjusted right image display unit;

[0058] Respectively acquiring a first position and a second position of the left vehicle body and the right vehicle body in the corresponding left image range and right image range;

[0059] respectively determining whether the first position and the second position are within corresponding target position ranges;

[0060] If not, generating a left adjustment angle and a right adjustment angle based on the distances between the first position and the second position and the corresponding target position range;

[0061] Sequentially adjust the corresponding first angle and second angle based on the left adjustment angle and the right adjustment angle;

[0062] The control unit is further used to obtain the current angles of the left image display unit and the right image display unit, and update the historical records.

[0063] In one practicable manner,

[0064] The control unit is further configured to respectively obtain a left remaining adjustment angle and a right remaining adjustment angle corresponding to the left image display unit and the right image display unit before adjusting the left adjustment angle based on the first angle and adjusting the right adjustment angle based on the second angle;

[0065] If the first angle and the second angle are greater than the corresponding left remaining adjustment angle and right remaining adjustment angle, the driver is reminded to adjust the driving seat.

[0066] In one practicable manner,

[0067] The control unit is further used to continuously acquire obstacles within a preset range of the vehicle after the vehicle performs a turn, and transmit the obstacles to the display model for display.

[0068] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0070] Figure 1 It is a schematic diagram of the composition of an electronic type II exterior rearview mirror that can replace the original optical rearview mirror in an embodiment of the present invention;

[0071] Figure 2 It is a schematic diagram of the collection module composition of the electronic type II exterior rearview mirror that can replace the original optical rearview mirror in an embodiment of the present invention;

[0072] Figure 3It is a schematic diagram of the composition of the analysis module of the electronic type II exterior rearview mirror that can replace the original optical rearview mirror in an embodiment of the present invention;

[0073] Figure 4 The present invention is a schematic diagram of the display module of an electronic type II exterior rearview mirror that can replace the original optical rearview mirror in an embodiment of the present invention. DETAILED DESCRIPTION

[0074] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0075] Example 1

[0076] Electronic Class II exterior rearview mirrors that can replace the original optical rearview mirrors, such as Figure 1 As shown, including:

[0077] A collection module, used to collect a left live image of the left rear of the vehicle and a right live image of the right rear of the vehicle, and at the same time, also collect the activation status of the vehicle turn signal lamp;

[0078] an analysis module, configured to establish an environment model of the vehicle based on the left live image and the right live image, and determine whether the vehicle has a turning condition according to a direction corresponding to a target turn signal in an activated state, and if not, generate a turning prohibition instruction;

[0079] A display module is used to display the prohibition turning instruction and the environmental model.

[0080] In this example, the left live image represents a real-time image of the left rear of the vehicle;

[0081] In this example, the right live image represents a real-time image of the right rear of the vehicle;

[0082] In this example, the activation status of the vehicle turn signal includes three situations: the left turn signal is on, the right turn signal is on, and neither the left nor the right turn signal is on;

[0083] In this example, the environment model refers to a model that can reflect the vehicle and objects around the vehicle.

[0084] The working principle and beneficial effects of the above technical solution are as follows: the acquisition module collects the real-time images of the left and right sides of the vehicle and the driver's desired turn respectively, and the analysis module establishes an environmental model based on the real-time images to analyze whether the driver has the turning conditions in the current position, and based on certain reminders, it not only realizes the function of the traditional optical rearview mirror, but also can give suggestions when the driver turns to ensure the driver's safety.

[0085] Example 2

[0086] On the basis of Example 1, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror, the display module, such as Figure 2 As shown, including:

[0087] A left image unit, used for collecting a left live image of the left rear of the vehicle and transmitting the image to the analysis module;

[0088] A right image unit, used for collecting a right live image of the right rear of the vehicle and transmitting the image to the analysis module;

[0089] The state acquisition unit is connected to the left turn signal lamp and the right turn signal lamp of the vehicle respectively, and is used to respectively acquire the activation states of the left turn signal lamp and the right turn signal lamp and transmit the activation states to the analysis module.

[0090] In this example, the left image unit and the right image unit may be photographing devices, and the left image unit and the right image unit are arranged on the left and right sides of the vehicle.

[0091] The working principle and beneficial effects of the above technical solution are as follows: the two image units respectively collect the real-time image behind the vehicle, and the state collection unit collects the activation state of the vehicle turn signal, which lays the foundation for subsequent analysis.

[0092] Example 3

[0093] On the basis of Example 1, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror, the analysis module, such as Figure 3 As shown, including:

[0094] A network unit, used for acquiring the real-time road condition of the road section where the vehicle is located according to the current position of the vehicle;

[0095] A modeling unit, used to establish an environment model based on the real-time road conditions and the left live image and the right live image, and to establish a virtual vehicle based on the model of the vehicle;

[0096] An analysis unit, used for inputting the virtual vehicle into the environment model to determine whether there is an obstacle in the direction in which the vehicle is to turn;

[0097] If so, a prohibit turning instruction is generated.

[0098] In this example, the desired turning direction indicates the direction in which the turn signal lamp is activated.

[0099] The working principle and beneficial effects of the above technical solution are as follows: in order to make the environmental model more realistic, the network unit obtains the real-time road conditions of the road section where the vehicle is located, and then establishes the environmental model and the virtual vehicle based on the real-time road conditions and live images. The analysis unit analyzes whether the vehicle will collide with an obstacle when turning at this time based on the situation of the virtual vehicle in the environmental model, and gives suggestions to ensure the safety of the driver.

[0100] Example 4

[0101] On the basis of Embodiment 3, the electronic Class II exterior rearview mirror capable of replacing the original optical rearview mirror, the analysis unit is further used for:

[0102] Based on the position of the virtual vehicle in the environment model, determining whether the vehicle touches a solid line on a road surface;

[0103] If so, generate a reminder instruction.

[0104] The working principle and beneficial effects of the above technical solution: In order to further ensure the driving safety of the driver and encourage the driver to develop good driving habits, the driver is reminded to adjust the vehicle body in time when the vehicle touches the road to avoid accidents.

[0105] Example 5

[0106] On the basis of Example 1, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror, the display module, such as Figure 4 As shown, including:

[0107] A left image display unit is arranged on the left side of the vehicle, and is used for displaying the left live image;

[0108] A right image display unit is arranged on the right side of the vehicle, and is used to display the right live image;

[0109] The instruction display unit is used to display the prohibition turning instruction.

[0110] In this example, the left image display unit is connected to the left image unit, which can replace the left optical rearview mirror and display the left live image;

[0111] In this example, the right image display unit is connected to the left image unit, and can replace the right optical rearview mirror and display the right live image.

[0112] The working principle and beneficial effects of the above technical solution are as follows: the left image display unit and the right image display unit display corresponding real-time images, which can facilitate the driver to check the situation behind, and the command display unit displays the generated commands to remind the driver.

[0113] Example 6

[0114] On the basis of Example 3, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror:

[0115] The analysis unit is further used to continuously obtain the movement trajectory of the virtual vehicle based on the position of the virtual vehicle in the environment model;

[0116] Obtain all inflection points included in the movement trajectory, and respectively obtain the inflection point acceleration corresponding to each inflection point;

[0117] Extracting a target acceleration corresponding to a historical turning point consistent with a desired turning direction of the vehicle;

[0118] Dividing the moving trajectory into a plurality of moving segments according to a preset time period, and obtaining a moving speed corresponding to each moving segment respectively;

[0119] Obtaining the speed limit requirement of the road section where the vehicle is located from the network unit, and generating an average moving speed of the vehicle and a normal moving speed range according to the moving speed corresponding to each moving section;

[0120] Acquire the current moving speed of the vehicle in the environment model, and perform feature training in combination with the target turning point acceleration to generate a first forward speed of the vehicle driver in the desired turning direction;

[0121] determining whether the first forward speed is within the normal moving speed range;

[0122] If not, based on the minimum difference between the first forward speed and the normal moving speed interval, generating a speed adjustment parameter, adjusting the first forward speed, and generating a second forward speed;

[0123] Obtaining respectively the transition time corresponding to the vehicle returning to the average moving speed after turning at each historical turning point;

[0124] According to the transition duration and the forward speed, and in combination with the current position of the virtual vehicle, marking in the environment model a transition trajectory of the virtual vehicle after turning at the current moment;

[0125] Determining whether the transition trajectory contains an obstacle;

[0126] If yes, determining that the vehicle does not meet the turning condition at the current moment, generating a turning prohibition instruction;

[0127] The next transition trajectory corresponding to the next moment is obtained and judged until the virtual vehicle meets the turning condition, and the vehicle is reminded to turn.

[0128] In this example, the movement trajectory represents the trajectory of the virtual vehicle moving forward in the environment model;

[0129] In this example, the inflection point represents the point in the moving trajectory where the virtual vehicle turns;

[0130] In this example, the inflection point acceleration represents the acceleration of the virtual vehicle at the inflection point. Generally speaking, the inflection point acceleration is negative;

[0131] In this example, the moving segment represents the moving distance of the virtual vehicle in a preset time period;

[0132] In this example, the moving speed represents the speed of the virtual vehicle corresponding to the moving segment obtained according to the preset time period and the moving segment;

[0133] In this example, feature training indicates that the speed of the driver turning here is determined based on the turning point acceleration and the moving speed;

[0134] In this example, the transition duration indicates the time it takes for the speed of the virtual vehicle to return to the average moving speed after turning;

[0135] In this example, the transition trajectory represents the distance traveled by the virtual vehicle during the transition period.

[0136] The working principle and beneficial effects of the above technical solution are as follows: the situation when the driver is turning the vehicle at the current position is simulated by modeling to determine whether the vehicle will collide. In the analysis process, the information of multiple turning points in the vehicle's movement trajectory is analyzed, the vehicle's turning speed and the distance it takes to return to the average speed after turning are analyzed, and whether the vehicle is safe is determined by judging whether there are obstacles in the distance, thereby providing reliable information to the driver.

[0137] Example 7

[0138] On the basis of Example 6, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror:

[0139] The analysis unit is also used to generate suggestion information when there are no turning conditions for a preset number of consecutive moments, suggesting that the driver continue along the current road.

[0140] In this example, the content of the advice information is: it is recommended that the driver continue to go along the current road and temporarily stop turning.

[0141] The working principle and beneficial effects of the above technical solution: In order to ensure the safety of the driver, if the current road is crowded and accidents are prone to occur when turning, the driver is reminded to continue moving forward and turn later.

[0142] Example 8

[0143] On the basis of Example 5, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror, the display module, such as Figure 4 As shown, it also includes:

[0144] A control unit, used for controlling the working states of the left image display unit and the right image display unit according to a state instruction issued by the driver;

[0145] Wherein, the working state includes an electronic display state and an optical display state. When the left image display unit and the right image display unit are in the electronic display state, the corresponding left live image and right live image are displayed respectively. When the left image display unit and the right image display unit are in the optical display state, they act as optical rearview mirrors for the driver to observe the situation behind the vehicle.

[0146] The control unit is further configured to generate an image acquisition instruction when the left image display unit and the right image display unit are in an optical display state;

[0147] An image acquisition unit, configured to acquire a facial image of the driver based on the image acquisition instruction;

[0148] The control unit is further used to obtain facial features of the driver based on the facial image, and obtain the facial features in the historical record;

[0149] If the acquisition fails, it is determined that the driver is driving for the first time, and the facial features are input into the historical record and stored;

[0150] If the acquisition is successful, extract the historical driving information corresponding to the driver and obtain the driver's historical angle adjustment information from the historical driving information;

[0151] The control unit is further used to generate a first adjustment amount based on the historical angle adjustment information, and adjust the left image display unit and the right image display unit respectively, and the first angle and the second angle corresponding to the left image display unit and the right image display unit respectively after adjustment;

[0152] The control unit is further used to collect a target fixed point on the driver's facial image, and determine the driver's driving seat position information based on the position of the target fixed point on the facial image;

[0153] At the same time, acquiring an eye image of the driver on the facial image;

[0154] Determining the driver's gaze activity range based on the driving seat position information and the eye image;

[0155] Based on the gaze activity range, respectively acquiring a left image range and a right image range corresponding to the adjusted left image display unit and the adjusted right image display unit;

[0156] Respectively acquiring a first position and a second position of the left vehicle body and the right vehicle body in the corresponding left image range and right image range;

[0157] respectively determining whether the first position and the second position are within corresponding target position ranges;

[0158] If not, generating a left adjustment angle and a right adjustment angle based on the distances between the first position and the second position and the corresponding target position range;

[0159] Sequentially adjust the corresponding first angle and second angle based on the left adjustment angle and the right adjustment angle;

[0160] The control unit is further used to obtain the current angles of the left image display unit and the right image display unit, and update the historical records.

[0161] In this example, the image acquisition instruction indicates an instruction for the image acquisition unit to acquire the driver's face;

[0162] In this example, the image acquisition unit is arranged at a designated position in the cab;

[0163] In this example, the facial features consist of the driver’s facial features;

[0164] In this example, the historical records contain facial information of all drivers of the vehicle and corresponding angle adjustment information;

[0165] In this example, the historical angle adjustment information indicates information on the driver adjusting the left image display unit and the right image display unit when driving the vehicle;

[0166] In this example, the first adjustment amount represents an adjustment amount generated according to the difference between the current angle of the left image display unit and the right image display unit and the historical angle adjustment information;

[0167] In this example, the target fixed point represents a point on the vehicle contained in the facial image;

[0168] In this example, the left image range represents the range that the driver can observe through the left image display unit;

[0169] In this example, the right image range represents a range that the driver can observe through the right image display unit.

[0170] The working principle and beneficial effects of the above technical solution are as follows: Since each driver has different driving habits, the rearview mirror needs to be adjusted before driving the vehicle in order to obtain rear information during driving. When the driver adjusts the image display unit to the optical display state, the driver's facial information is collected, so as to find the driver's historical angle adjustment information in the historical records, and by determining the driver's gaze range, the angle adjustment angle of each display unit is determined, and then adjusted, thereby realizing automatic adjustment and saving the driver's time.

[0171] Example 9

[0172] On the basis of Example 8, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror:

[0173] The control unit is further configured to respectively obtain a left remaining adjustment angle and a right remaining adjustment angle corresponding to the left image display unit and the right image display unit before adjusting the left adjustment angle based on the first angle and adjusting the right adjustment angle based on the second angle;

[0174] If the first angle and the second angle are greater than the corresponding left remaining adjustment angle and right remaining adjustment angle, the driver is reminded to adjust the driving seat.

[0175] The working principle and beneficial effects of the above technical solution: In order to ensure that the driver has a wide field of view, if the display unit has been adjusted to the extreme position, but the driver's field of view is still insufficient, the driver is reminded to adjust the seat to broaden the field of view.

[0176] Example 10

[0177] On the basis of Example 8, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror:

[0178] The control unit is further used to continuously acquire obstacles within a preset range of the vehicle after the vehicle performs a turn, and transmit the obstacles to the display model for display.

[0179] The working principle and beneficial effects of the above technical solution: In order to facilitate the driver's observation, obstacles around the vehicle are continuously acquired after the vehicle turns and transmitted to the display module for the driver to view.

[0180] Embodiment 11

[0181] On the basis of Example 3, the electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror, before establishing the environmental model, includes:

[0182] The analysis module is further used to obtain the left live image and the right live image, and determine whether the vehicle is in a position where visibility is lower than a preset visibility according to the clarity of the left live image and the right live image;

[0183] If yes, input the left live image and the right live image into a preset coordinate system, and obtain the pixel value corresponding to each pixel point contained in each live image and the color value corresponding to each pixel point contained in each live image;

[0184] At the same time, the standard deviation of the pixel values ​​of each image is obtained;

[0185] According to formula (I), the image blur features corresponding to the left live image and the right live image are calculated respectively;

[0186]

[0187] Where D represents the image blur feature, n represents the number of pixels in the image, and f(α i , β i ) represents the pixel value corresponding to the i-th pixel on the image, x i Represents the horizontal average pixel value of the first i pixels on the image, y i represents the vertical average pixel value of the first i pixels on the image, a and b represent constants, and a+b=1, L represents the grayscale of the corresponding image, and f(γ i , δ i ) represents the color value corresponding to the i-th pixel on the image, k i Represents the horizontal average color value of the first i pixels on the image, n i Represents the vertical average color value of the first i pixels on the image;

[0188] According to the calculation result of formula (I), the visibility range of the position of the vehicle is determined, and a corresponding defogging factor is obtained based on the visibility range, and the left live image and the right live image are defogged respectively to obtain a corresponding first image and a second image;

[0189] Calculate the brightness similarity values ​​corresponding to the first image and the second image according to formula (II);

[0190]

[0191] Wherein, z represents the brightness similarity value corresponding to the first image and the second image, j1 represents the brightness mean of all pixels contained in the first image, j2 represents the brightness mean of all pixels contained in the second image, c and d represent constants, and c+d=1, σ1 represents the first brightness covariance of all pixels contained in the first image, σ2 represents the second brightness covariance of all pixels contained in the second image, σ 12 represents the difference between the first brightness covariance and the second brightness covariance;

[0192] According to the calculation result of formula (II), determining whether the brightness pixel values ​​of the first image and the second image are within a preset range;

[0193] If not, based on the brightness similarity value, the defogging factor is adjusted, and the first image and the second image are readjusted until the brightness pixel values ​​of the first image and the second image are within a preset range.

[0194] The working principle and beneficial effects of the above technical solution are as follows: Since the image behind the vehicle is extremely susceptible to environmental influences, resulting in unclear images, the visibility characteristics of the current environment are determined by judging the blur characteristics of the image, and the corresponding defogging factor is queried to defog the image. In order to ensure the consistency of clarity of the subsequently established environmental model, the brightness similarity value of the defogged image is calculated to determine whether the defogging result meets the requirements, and the corresponding operations are performed to ensure the integrity of the subsequently established environmental model.

[0195] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An electronic type II exterior rearview mirror that can replace the original optical rearview mirror, characterized in that: include: A collection module, used for collecting a left live image of the left rear of the vehicle, a right live image of the right rear of the vehicle and the activation status of the vehicle's turn signal lamp; An analysis module is used to establish an environment model of the vehicle based on the left live image and the right live image, and to determine whether the vehicle has a turning condition according to the direction corresponding to the target turn signal in the activated state, and if not, to generate a turning prohibition instruction; A display module, used for displaying a no-turn instruction and an environment model; Analysis modules, including: A network unit, used to obtain the real-time road condition of the road section where the vehicle is located according to the current position of the vehicle; A modeling unit, used for establishing an environment model based on real-time road conditions and the left live image and the right live image, and establishing a virtual vehicle based on the vehicle model; An analysis unit, used to input the virtual vehicle into the environment model to determine whether there is an obstacle in the direction in which the vehicle is to turn; If so, a prohibit turning instruction is generated; The analysis unit is further used to continuously obtain the movement trajectory of the virtual vehicle based on the position of the virtual vehicle in the environment model; Obtain all inflection points contained in the moving trajectory, and obtain the inflection point acceleration corresponding to each inflection point respectively; Extract the target acceleration corresponding to the historical turning point consistent with the direction the vehicle intends to turn; Divide the moving trajectory into several moving segments according to a preset time period, and obtain the moving speed corresponding to each moving segment respectively; Obtain the speed limit requirement of the road section where the vehicle is located from the network unit, and generate the average moving speed and normal moving speed range of the vehicle according to the moving speed corresponding to each moving section; Obtain the current moving speed of the vehicle in the environment model, and then perform feature training in combination with the target acceleration to generate the first forward speed of the vehicle driver in the direction he wants to turn; Determining whether the first forward speed is within a normal moving speed range; If not, based on the minimum difference between the first forward speed and the normal moving speed range, a speed adjustment parameter is generated, and the first forward speed is adjusted to generate a second forward speed; Obtain the transition time corresponding to the vehicle returning to the average moving speed after turning at each historical turning point; According to the transition duration and forward speed, and in combination with the current position of the virtual vehicle, the transition trajectory of the virtual vehicle after turning at the current moment is marked in the environment model; Determine whether there are obstacles in the transition trajectory; If so, it is determined that the vehicle does not have the turning condition at the current moment, and a turning prohibition instruction is generated; The next transition trajectory corresponding to the next moment is obtained and judged until the virtual vehicle meets the turning conditions, and the vehicle is reminded to turn.

2. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 1, characterized in that: The acquisition module comprises: A left image unit, used for collecting a left live image of the left rear of the vehicle and transmitting the image to the analysis module; A right image unit, used for collecting a right live image of the right rear of the vehicle and transmitting the image to the analysis module; The state acquisition unit is connected to the left turn signal lamp and the right turn signal lamp of the vehicle respectively, and is used to respectively acquire the activation states of the left turn signal lamp and the right turn signal lamp and transmit the activation states to the analysis module.

3. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 1, characterized in that: The analysis unit is further used for: Based on the position of the virtual vehicle in the environment model, determining whether the vehicle touches a solid line on a road surface; If so, generate a reminder instruction.

4. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 1, characterized in that: The display module comprises: A left image display unit, disposed below a cab window of the vehicle, for displaying the left live image; a right image display unit, disposed below the window of the co-pilot compartment of the vehicle, for displaying the right live image; The instruction display unit is used to display the prohibition turning instruction.

5. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 1, characterized in that: The analysis unit is further configured to generate suggestion information when there are no turning conditions for a preset number of consecutive moments, suggesting that the driver continue driving along the current road.

6. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 4, characterized in that: The display module further includes: A control unit, used for controlling the working states of the left image display unit and the right image display unit according to a state instruction issued by the driver; Wherein, the working state includes an electronic display state and an optical display state. When the left image display unit and the right image display unit are in the electronic display state, the corresponding left live image and right live image are displayed respectively. When the left image display unit and the right image display unit are in the optical display state, they act as optical rearview mirrors for the driver to observe the situation behind the vehicle. The control unit is further configured to generate an image acquisition instruction when the left image display unit and the right image display unit are in an optical display state; An image acquisition unit, configured to acquire a facial image of the driver based on the image acquisition instruction; The control unit is further used to obtain facial features of the driver based on the facial image, and obtain the facial features in the historical record; If the acquisition fails, it is determined that the driver is driving for the first time, and the facial features are input into the historical record and stored; If the acquisition is successful, extract the historical driving information corresponding to the driver and obtain the driver's historical angle adjustment information from the historical driving information; The control unit is further used to generate a first adjustment amount based on the historical angle adjustment information, and adjust the left image display unit and the right image display unit respectively, and the first angle and the second angle corresponding to the left image display unit and the right image display unit respectively after adjustment; The control unit is further used to collect a target fixed point on the driver's facial image, and determine the driver's driving seat position information based on the position of the target fixed point on the facial image; At the same time, acquiring an eye image of the driver on the facial image; Determining the driver's gaze activity range based on the driving seat position information and the eye image; Based on the gaze activity range, respectively acquiring a left image range and a right image range corresponding to the adjusted left image display unit and the adjusted right image display unit; Respectively acquiring a first position and a second position of the left vehicle body and the right vehicle body in the corresponding left image range and right image range; respectively determining whether the first position and the second position are within corresponding target position ranges; If not, generating a left adjustment angle and a right adjustment angle based on the distances between the first position and the second position and the corresponding target position range; Sequentially adjust the corresponding first angle and second angle based on the left adjustment angle and the right adjustment angle; The control unit is further used to obtain the current angles of the left image display unit and the right image display unit, and update the historical records.

7. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 6, characterized in that: The control unit is further configured to respectively obtain a left remaining adjustment angle and a right remaining adjustment angle corresponding to the left image display unit and the right image display unit before adjusting the left adjustment angle based on the first angle and adjusting the right adjustment angle based on the second angle; If the first angle and the second angle are greater than the corresponding left remaining adjustment angle and right remaining adjustment angle, the driver is reminded to adjust the driving seat.

8. The electronic type II exterior rearview mirror capable of replacing the original optical rearview mirror as claimed in claim 6, characterized in that: The control unit is further used to continuously acquire obstacles within a preset range of the vehicle after the vehicle performs a turn, and transmit the obstacles to the display model for display.

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