Blind spot determination method, determination device, processor and vehicle

Abstract

The present application provides a method for determining a blind spot, a determination device, a processor and a vehicle, the determination method comprising: determining the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle; determining the deflection angle of the rearview mirror according to the first target coordinate and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; determining the target blind spot of the vehicle according to at least the first target coordinate and the second target coordinate. This solution ensures that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driver's driving habits.

Description

Technical Field

[0001] The present application relates to the field of blind spot monitoring of vehicles, and more specifically, to a blind spot determination method, a determination device, a processor and a vehicle. Background Art

[0002] The currently promulgated national standard for blind spot detection (BSD) (GB 39265-2020) specifies the scope, location and road usage scenarios of blind spots. The national standard stipulates that vehicles with BSD functions must meet various constraints within the standard. However, limiting the scope of blind spots to fixed areas and fixed positions makes it difficult to meet the use needs of all drivers for the BSD function. For example, there are the following problems: 1) The driver can adjust the rearview mirror to change the observable area of ​​the rearview mirror, but after adjusting the rearview mirror, the blind spot range of each driver's rearview mirror is different. Using the same blind spot to constrain all drivers' BSD function will cause some drivers' blind spots to be missed; 2) When the car is driving on a curve, the driver's attention will be focused on the direction of the turn, and the blind spot in the non-turning direction will increase significantly. The BSD system constrained by the blind spot range on a straight road cannot solve the driver's non-turning blind spot well; for different drivers, it is difficult to adaptively adjust the angle of the rearview mirror to maintain the best visible area.

[0003] Therefore, there is an urgent need for a method that can flexibly adjust the blind spot monitoring range of a vehicle according to the driver's driving habits.

[0004] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Summary of the invention

[0005] The main purpose of the present application is to provide a blind spot determination method, a determination device, a processor and a vehicle to solve the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driver's driving habits.

[0006] According to one aspect of an embodiment of the present invention, a method for determining a blind spot is provided, comprising: determining the coordinates of a driver's eye point in a vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with a target point as a coordinate origin, and the target point is the center point of a rear axle of the vehicle; determining a deflection angle of the rearview mirror according to the first target coordinate and preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; determining a target blind spot of the vehicle according to at least the first target coordinate and the second target coordinate.

[0007] Optionally, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis. The vehicle also includes a camera, and determines the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, including: determining the distance of the driver's seat on the first coordinate axis as the first coordinate of the driver's eye point, and calculating the distance of the driver's seat on the second coordinate axis to obtain a second coordinate; estimating the third coordinate of the driver's eye point on the second coordinate axis based on the human body model and the second coordinate; determining the fourth coordinate of the driver's eye point based on the coordinate information of the camera in the vehicle coordinate system and the third coordinate, and the first coordinate, the third coordinate and the fourth coordinate constitute the first target coordinate of the driver's eye point in the vehicle coordinate system.

[0008] Optionally, the fourth coordinate of the driver's eye point is determined according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate, including: determining the angle between the camera and the driver's eye point to obtain a target angle; determining the fourth coordinate of the driver's eye point according to the coordinate information of the camera on the third coordinate axis of the vehicle coordinate system and the target angle.

[0009] Optionally, the deflection angle includes a first deflection angle and a second deflection angle, the first deflection angle being the deflection angle of the rearview mirror in the horizontal direction, and the second deflection angle being the deflection angle of the rearview mirror in the vertical direction. The deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, including: determining the driver's optimal viewing angle according to the first target coordinates, when the driver is at the optimal viewing angle, the range of both sides of the vehicle that the driver can observe is the largest; determining the first deflection angle and the second deflection angle of the vehicle according to the optimal viewing angle.

[0010] Optionally, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to a plane formed by the first coordinate axis and the second coordinate axis, the preset coordinates include a first preset coordinate on the first coordinate axis, a second preset coordinate on the second coordinate axis and a third preset coordinate on the third coordinate axis, and the preset coordinates are adjusted according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system, including: determining a first moving distance of the rearview mirror on the first coordinate axis according to the first deflection angle, and determining a second moving distance of the rearview mirror on the second coordinate axis according to the second deflection angle; adjusting the first preset coordinate according to the first moving distance to obtain the first target coordinate, and adjusting the second preset coordinate according to the second moving distance to obtain the second target coordinate; the first target coordinate, the second target coordinate and the third preset coordinate constitute the second target coordinate of the rearview mirror in the vehicle coordinate system.

[0011] Optionally, in a driving scenario where the vehicle is on a curve, the target blind spot of the vehicle is determined based on at least the first target coordinates and the second target coordinates, including: determining a first preset blind spot of the vehicle based on the first target coordinates and the second target coordinates; determining a second preset blind spot of the vehicle based on at least a steering wheel rotation angle; determining the target blind spot of the vehicle based on the first preset blind spot and the second preset blind spot.

[0012] Optionally, the second preset blind spot of the vehicle is determined at least based on the rotation angle of the steering wheel, including: multiplying the rotation angle of the steering wheel and a predetermined proportional coefficient to determine the target angle of the blind spot; and determining the second preset blind spot based on the sector formed by the target angle.

[0013] According to another aspect of an embodiment of the present invention, a blind spot determination device is also provided, including: a first determination unit, used to determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle; a second determination unit, used to determine the deflection angle of the rearview mirror according to the first target coordinate and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjust the preset coordinates according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; a third determination unit, used to determine the target blind spot of the vehicle based on at least the first target coordinate and the second target coordinate.

[0014] According to another aspect of the embodiments of the present invention, a processor is provided, and the processor is used to run a program, wherein the program executes any one of the blind area determination methods when running.

[0015] According to yet another aspect of the embodiments of the present invention, a vehicle is provided, including: a blind spot determination device, wherein the blind spot determination device is used to execute any one of the blind spot determination methods.

[0016] In an embodiment of the present invention, in the method for determining the blind spot, first, the first target coordinates of the driver's eye point in the vehicle coordinate system are determined; then, the deflection angle of the rearview mirror is determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, and the preset coordinates are adjusted according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system; finally, the target blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. In this solution, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art, which uses a unified blind spot for different drivers, this solution can flexibly adjust the target blind spot of the vehicle according to the first target coordinates of the driver's eye point and the second target coordinates of the rearview mirror. Since this solution does not constrain all drivers based on a unified blind spot, this solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the vehicle's blind spot monitoring range according to the driver's driving habits. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A flow chart showing a method for determining a blind area according to an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram of constructing a vehicle coordinate system according to an embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram of a structure for determining a target angle according to an embodiment of the present application is shown;

[0021] Figure 4 A flowchart of determining the first target coordinates of the driver's eye point according to a specific embodiment of the present application is shown;

[0022] Figure 5 A flowchart of determining the second target coordinates of a rearview mirror according to a specific embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of determining a second preset blind area according to an embodiment of the present application is shown;

[0024] Figure 7 A schematic structural diagram of a blind spot determination device according to an embodiment of the present application is shown.

[0025] The above drawings include the following reference numerals:

[0026] 100. First coordinate axis; 101. Second coordinate axis; 102. Target angle; 103. First preset blind spot; 104. Second preset blind spot; 105. Vehicle. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] As mentioned in the background technology, it is difficult in the prior art to flexibly adjust the blind spot monitoring range of the vehicle according to the driver's driving habits. In order to solve the above problem, in a typical embodiment of the present application, a blind spot determination method, a determination device, a processor and a vehicle are provided.

[0031] According to an embodiment of the present application, a method for determining a blind area is provided.

[0032] Figure 1 FIG. 1 is a flow chart of a method for determining a blind spot according to an embodiment of the present application. Figure 1 As shown, the determination method includes the following steps:

[0033] Step S101, determining the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle;

[0034] Step S102, determining a deflection angle of the rearview mirror according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle;

[0035] Step S103, determining the target blind spot of the vehicle at least based on the first target coordinates and the second target coordinates.

[0036] In the above-mentioned method for determining the blind spot, first, the first target coordinates of the driver's eye point in the vehicle coordinate system are determined; then, according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, the deflection angle of the rearview mirror is determined, and the preset coordinates are adjusted according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system; finally, the target blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. In this scheme, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art that uses a unified blind spot for different drivers, this scheme can flexibly adjust the target blind spot of the vehicle according to the first target coordinates of the driver's eye point and the second target coordinates of the rearview mirror. Since this solution does not constrain all drivers based on a unified blind spot, this solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the vehicle's blind spot monitoring range according to the driver's driving habits.

[0037] Specifically, the preset coordinates of the rearview mirror in the vehicle coordinate system may be the coordinates of the rearview mirror in the vehicle coordinate system when the vehicle leaves the factory. In actual application, the driver may adjust the deflection angle of the rearview mirror according to his own driving habits and driving scenes, and then adjust the preset coordinates of the rearview mirror in the vehicle coordinate system according to the deflection angle to obtain the second target coordinates.

[0038] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] In order to more easily determine the first target coordinates of the driver in the vehicle coordinate system, in one embodiment of the present application, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis. The vehicle also includes a camera, and the coordinates of the driver's eye point in the vehicle coordinate system are determined to obtain the first target coordinates, including: determining the distance of the driver's seat on the first coordinate axis as the first coordinate of the driver's eye point, and calculating the distance of the driver's seat on the second coordinate axis to obtain the second coordinate; estimating the third coordinate of the driver's eye point on the second coordinate axis according to the human body model and the second coordinate; determining the fourth coordinate of the driver's eye point according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate, and the first coordinate, the third coordinate and the fourth coordinate constitute the first target coordinate of the driver's eye point in the vehicle coordinate system.

[0040] In a specific embodiment of the present application, Figure 2 As shown, the Figure 2 The vehicle coordinate system is established with the center point of the rear axle of the vehicle as the coordinate origin, wherein the first coordinate axis 100 (i.e., the X axis) is the coordinate axis in the horizontal direction, the second coordinate axis 101 (i.e., the Y axis) is perpendicular to the first coordinate axis 100, and the third coordinate axis ( Figure 2 The first coordinate axis 100 and the second coordinate axis 101 are perpendicular to the plane formed by the first coordinate axis 100 and the second coordinate axis 101.

[0041] In actual application, the distance of the driver's seat on the first coordinate axis in the vehicle coordinate system is constant, so the distance of the driver's seat on the first coordinate axis can be determined as the first coordinate of the driver's eye point. However, since the driver's seat can be adjusted, before estimating the third coordinate of the driver's eye point on the second coordinate axis, it is also necessary to calculate the second coordinate of the driver's seat on the second coordinate axis. This further ensures that the first target coordinate of the driver's eye point in the vehicle coordinate system is more accurate and reasonable.

[0042] Specifically, the third coordinate of the driver's eye point on the second coordinate axis may also be estimated according to the human body model and the 95% percentile head model.

[0043] In another embodiment of the present application, Figure 3As shown, according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate, the fourth coordinate of the driver's eye point is determined, including: determining the angle between the camera and the driver's eye point to obtain a target angle 102; determining the fourth coordinate of the driver's eye point according to the coordinate information of the camera on the third coordinate axis of the vehicle coordinate system and the target angle 102. In this embodiment, the fourth coordinate of the driver's eye point is determined according to the target angle and the coordinate information of the camera on the third coordinate axis in the vehicle coordinate system, which ensures that the fourth coordinate of the driver's eye point can be determined relatively simply and accurately, and further ensures that the first target coordinate of the driver's eye point in the vehicle coordinate system is determined to be relatively accurate.

[0044] Specifically, the target angle between the camera and the driver's eye point can also be determined by a state detection perception model, wherein the state detection perception model is obtained by training based on a neural network model.

[0045] In a specific embodiment of the present application, Figure 4 As shown, it is a flow chart for determining the first target coordinate of the driver's eye point in this scheme. First, when the driver sits on the driving seat, the driver's head portrait is detected by the camera. In the case that the driver adjusts the driving seat, the second coordinate of the driving seat in the vehicle coordinate system is calculated, and the third coordinate of the driver's eye point in the vehicle coordinate system is calculated based on the human body model and the second coordinate; in the case that the driver does not adjust the driving seat, the second coordinate of the driving seat in the vehicle coordinate system is directly determined as the third coordinate of the driver's eye point. Then, according to the state monitoring perception model, the target angle between the camera and the driver's eye point is determined, and the fourth coordinate of the driver's eye point is determined based on the target angle and the distance information of the camera on the third coordinate axis. The above-mentioned first coordinate, the third coordinate and the above-mentioned fourth coordinate constitute the above-mentioned first target coordinate of the above-mentioned driver's eye point in the above-mentioned vehicle coordinate system.

[0046] In order to determine the deflection angle of the rearview mirror more flexibly and simply, in another embodiment of the present application, the deflection angle includes a first deflection angle and a second deflection angle, the first deflection angle is the deflection angle of the rearview mirror in the horizontal direction, and the second deflection angle is the deflection angle of the rearview mirror in the vertical direction. According to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, the deflection angle of the rearview mirror is determined, including: according to the first target coordinates, determining the driver's best viewing angle, when the driver is at the best viewing angle, the range of the two sides of the vehicle that the driver can observe is the largest; according to the best viewing angle, determining the first deflection angle and the second deflection angle of the vehicle. In this embodiment, according to the first target coordinates of the driver's eye point, the driver's best viewing angle is determined, and then the first deflection angle and the second deflection angle are determined according to the best viewing angle, so that the first deflection angle and the second deflection angle determined are relatively accurate, further ensuring that the second target coordinate system of the rearview mirror obtained subsequently is relatively accurate, and further realizing the adaptive adjustment of the rearview mirror.

[0047] In order to more simply determine the second target coordinates of the rearview mirror, in another embodiment of the present application, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis, the preset coordinates include a first preset coordinate on the first coordinate axis, a second preset coordinate on the second coordinate axis and a third preset coordinate on the third coordinate axis, and the preset coordinates are adjusted according to the deflection angle to obtain the rearview mirror at The second target coordinates in the above-mentioned vehicle coordinate system include: determining the first moving distance of the above-mentioned rearview mirror on the above-mentioned first coordinate axis according to the above-mentioned first deflection angle, and determining the second moving distance of the above-mentioned rearview mirror on the above-mentioned second coordinate axis according to the above-mentioned second deflection angle; adjusting the above-mentioned first preset coordinates according to the above-mentioned first moving distance to obtain the above-mentioned first target coordinates, and adjusting the above-mentioned second preset coordinates according to the above-mentioned second moving distance to obtain the above-mentioned second target coordinates; the above-mentioned first target coordinates, the above-mentioned second target coordinates and the third preset coordinates constitute the second target coordinates of the above-mentioned rearview mirror in the above-mentioned vehicle coordinate system.

[0048] In a specific embodiment of the present application, Figure 5As shown, it is a flow chart for determining the second target coordinates of the rearview mirror in this solution. First, the driver can choose whether to automatically adjust the rearview mirror adjustment function in the vehicle system. If the driver starts the automatic adjustment rearview mirror adjustment function, the blind spot of the vehicle can be determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system. If the driver starts the automatic adjustment rearview mirror adjustment function, the second target coordinates of the rearview mirror are determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, and then the blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. When the vehicle is started, it is determined that the ignition signal (i.e., the vehicle is connected to power or the engine is successfully ignited) has a value. According to the first target coordinates of the driver's eye point, the best viewing angle is determined. Then, according to the best viewing angle, the first deflection angle and the second deflection angle of the rearview mirror are calculated. Finally, according to the first deflection angle and the second deflection angle, the second target coordinates of the rearview mirror are determined, and the relevant motor of the rearview mirror is adjusted so that the rearview mirror is at the second target coordinates.

[0049] In one embodiment of the present application, Figure 6 As shown, in the driving scenario where the vehicle 105 is on a curve, the target blind spot of the vehicle 105 is determined at least according to the first target coordinates and the second target coordinates, including: determining the first preset blind spot 103 of the vehicle 105 according to the first target coordinates and the second target coordinates; determining the second preset blind spot 104 of the vehicle 105 at least according to the rotation angle of the steering wheel; determining the target blind spot of the vehicle 105 according to the first preset blind spot and the second preset blind spot, thereby ensuring that the determined target blind spot is relatively accurate, and further solving the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driving habits of the driver.

[0050] In order to further ensure that the determined second preset blind spot is more reasonable, in another embodiment of the present application, the second preset blind spot of the above-mentioned vehicle is determined at least based on the rotation angle of the steering wheel, including: multiplying the rotation angle of the above-mentioned steering wheel and a predetermined proportional coefficient to determine the target angle of the above-mentioned blind spot; determining the above-mentioned second preset blind spot based on the sector formed by the above-mentioned target angle.

[0051] Specifically, Figure 6As shown, according to the driver's driving habits, when the vehicle 105 turns right (the right turn is determined when the person is facing the screen or facing the paper), the driver's eyes also deviate to the right front. In this scenario, the blind spot on the left side of the driver is expanded. The inventors understand that the driver's head deflection angle (the eyes look straight ahead, and when turning, they do not squint but turn their heads) is positively correlated with the curvature of the curve, and the curvature of the curve is also positively correlated with the turning angle of the car's steering wheel. According to multiple driving tests of the driver, the target angle of the second preset blind spot can be linearly regressed with the turning angle of the steering wheel into a linear equation:

[0052] θ=k·α

[0053] Wherein, α is the steering wheel angle, θ is the increase angle of the blind spot outside the turn (i.e., the target angle), and k is the proportional coefficient. Then, according to the sector formed by the above target angle, the second preset blind spot 104 is determined. In addition, in the present application, the target blind spot of the vehicle is the blind spot on both sides of the vehicle.

[0054] The embodiment of the present application also provides a blind spot determination device. It should be noted that the blind spot determination device of the embodiment of the present application can be used to execute the blind spot determination method provided by the embodiment of the present application. The blind spot determination device provided by the embodiment of the present application is introduced below.

[0055] Figure 7 is a schematic diagram of the structure of a device for determining a blind spot according to an embodiment of the present application. Figure 7 As shown, the determining device includes:

[0056] The first determination unit 10 is used to determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle;

[0057] a second determining unit 20, configured to determine a deflection angle of the rearview mirror according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, and to adjust the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle;

[0058] The third determining unit 30 is used to determine the target blind spot of the vehicle at least according to the first target coordinates and the second target coordinates.

[0059] In the above-mentioned blind spot determination device, the first determination unit is used to determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain the first target coordinates, the above-mentioned vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the above-mentioned target point is the center point of the rear axle of the above-mentioned vehicle; the second determination unit is used to determine the deflection angle of the above-mentioned rearview mirror according to the above-mentioned first target coordinates and the preset coordinates of the rearview mirror in the above-mentioned vehicle coordinate system, and adjust the above-mentioned preset coordinates according to the above-mentioned deflection angle to obtain the second target coordinates of the above-mentioned rearview mirror in the above-mentioned vehicle coordinate system, wherein the above-mentioned rearview mirror is installed on the above-mentioned vehicle; the third determination unit is used to determine the target blind spot of the above-mentioned vehicle according to at least the above-mentioned first target coordinates and the above-mentioned second target coordinates. In this scheme, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art, which uses a unified blind spot for different drivers, the present solution can flexibly adjust the target blind spot of the vehicle according to the first target coordinate of the driver's eye point and the second target coordinate of the rearview mirror. Since the present solution does not constrain all drivers according to a unified blind spot, the present solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driver's driving habits.

[0060] Specifically, the preset coordinates of the rearview mirror in the vehicle coordinate system may be the coordinates of the rearview mirror in the vehicle coordinate system when the vehicle leaves the factory. In actual application, the driver may adjust the deflection angle of the rearview mirror according to his own driving habits and driving scenes, and then adjust the preset coordinates of the rearview mirror in the vehicle coordinate system according to the deflection angle to obtain the second target coordinates.

[0061] In order to more simply determine the first target coordinates of the driver in the vehicle coordinate system, in an embodiment of the present application, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis. The vehicle also includes a camera, and the first determination unit includes a first determination module, an estimation module and a second determination module, wherein the first determination module is used to determine the distance of the driver's seat on the first coordinate axis as the first coordinate of the driver's eye point, and calculate the distance of the driver's seat on the second coordinate axis to obtain the second coordinate; the estimation module is used to estimate the third coordinate of the driver's eye point on the second coordinate axis according to the human body model and the second coordinate; the second determination module is used to determine the fourth coordinate of the driver's eye point according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate, and the first coordinate, the third coordinate and the fourth coordinate constitute the first target coordinate of the driver's eye point in the vehicle coordinate system.

[0062] In a specific embodiment of the present application, Figure 2 As shown, the Figure 2 The vehicle coordinate system is established with the center point of the rear axle of the vehicle as the coordinate origin, wherein the first coordinate axis 100 (i.e., the X axis) is the coordinate axis in the horizontal direction, the second coordinate axis 101 (i.e., the Y axis) is perpendicular to the first coordinate axis 100, and the third coordinate axis ( Figure 2 The first coordinate axis 100 and the second coordinate axis 101 are perpendicular to the plane formed by the first coordinate axis 100 and the second coordinate axis 101.

[0063] In actual application, the distance of the driver's seat on the first coordinate axis in the vehicle coordinate system is constant, so the distance of the driver's seat on the first coordinate axis can be determined as the first coordinate of the driver's eye point. However, since the driver's seat can be adjusted, before estimating the third coordinate of the driver's eye point on the second coordinate axis, it is also necessary to calculate the second coordinate of the driver's seat on the second coordinate axis. This further ensures that the first target coordinate of the driver's eye point in the vehicle coordinate system is more accurate and reasonable.

[0064] Specifically, the third coordinate of the driver's eye point on the second coordinate axis may also be estimated according to the human body model and the 95% percentile head model.

[0065] In another embodiment of the present application, Figure 3As shown, the second determination module includes a first determination submodule and a second determination submodule, wherein the first determination submodule is used to determine the angle between the camera and the driver's eye point to obtain a target angle 102; the second determination submodule is used to determine the fourth coordinate of the driver's eye point according to the coordinate information of the camera on the third coordinate axis of the vehicle coordinate system and the target angle 102. In this embodiment, the fourth coordinate of the driver's eye point is determined according to the target angle and the coordinate information of the camera on the third coordinate axis in the vehicle coordinate system, which ensures that the fourth coordinate of the driver's eye point can be determined relatively simply and accurately, and further ensures that the first target coordinate of the driver's eye point in the vehicle coordinate system is determined to be relatively accurate.

[0066] Specifically, the target angle between the camera and the driver's eye point can also be determined by a state detection perception model, wherein the state detection perception model is obtained by training based on a neural network model.

[0067] In a specific embodiment of the present application, Figure 4 As shown, it is a flow chart for determining the first target coordinate of the driver's eye point in this scheme. First, when the driver sits on the driving seat, the driver's head portrait is detected by the camera. In the case that the driver adjusts the driving seat, the second coordinate of the driving seat in the vehicle coordinate system is calculated, and the third coordinate of the driver's eye point in the vehicle coordinate system is calculated based on the human body model and the second coordinate; in the case that the driver does not adjust the driving seat, the second coordinate of the driving seat in the vehicle coordinate system is directly determined as the third coordinate of the driver's eye point. Then, according to the state monitoring perception model, the target angle between the camera and the driver's eye point is determined, and the fourth coordinate of the driver's eye point is determined based on the target angle and the distance information of the camera on the third coordinate axis. The above-mentioned first coordinate, the third coordinate and the above-mentioned fourth coordinate constitute the above-mentioned first target coordinate of the above-mentioned driver's eye point in the above-mentioned vehicle coordinate system.

[0068] In order to determine the deflection angle of the rearview mirror more flexibly and simply, in another embodiment of the present application, the deflection angle includes a first deflection angle and a second deflection angle, the first deflection angle is the deflection angle of the rearview mirror in the horizontal direction, the second deflection angle is the deflection angle of the rearview mirror in the vertical direction, the second determination unit includes a third determination module and a fourth determination module, wherein the third determination module is used to determine the driver's best viewing angle according to the first target coordinates, when the driver is at the best viewing angle, the range of the two sides of the vehicle that the driver can observe is the largest; the fourth determination module is used to determine the first deflection angle and the second deflection angle of the vehicle according to the best viewing angle. In this embodiment, the driver's best viewing angle is determined according to the first target coordinates of the driver's eye point, and then the first deflection angle and the second deflection angle are determined according to the best viewing angle, so that the determined first deflection angle and the second deflection angle are relatively accurate, further ensuring that the second target coordinate system of the rearview mirror obtained subsequently is relatively accurate, and further realizing the adaptive adjustment of the rearview mirror.

[0069] In order to more simply determine the second target coordinate of the rearview mirror, in another embodiment of the present application, the vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis, the preset coordinates include a first preset coordinate on the first coordinate axis, a second preset coordinate on the second coordinate axis and a third preset coordinate on the third coordinate axis, the second determination unit also includes a fifth determination module, an adjustment module and a combination module, wherein the above The fifth determination module is used to determine the first moving distance of the rearview mirror on the first coordinate axis according to the first deflection angle, and to determine the second moving distance of the rearview mirror on the second coordinate axis according to the second deflection angle; the adjustment module is used to adjust the first preset coordinate according to the first moving distance to obtain the first target coordinate, and to adjust the second preset coordinate according to the second moving distance to obtain the second target coordinate; the combination module is used to form the second target coordinate of the rearview mirror in the vehicle coordinate system by the first target coordinate, the second target coordinate and the third preset coordinate.

[0070] In a specific embodiment of the present application, Figure 5As shown, it is a flow chart for determining the second target coordinates of the rearview mirror in this solution. First, the driver can choose whether to automatically adjust the rearview mirror adjustment function in the vehicle system. If the driver starts the automatic adjustment rearview mirror adjustment function, the blind spot of the vehicle can be determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system. If the driver starts the automatic adjustment rearview mirror adjustment function, the second target coordinates of the rearview mirror are determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, and then the blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. When the vehicle is started, it is determined that the ignition signal (i.e., the vehicle is connected to power or the engine is successfully ignited) has a value. According to the first target coordinates of the driver's eye point, the best viewing angle is determined. Then, according to the best viewing angle, the first deflection angle and the second deflection angle of the rearview mirror are calculated. Finally, according to the first deflection angle and the second deflection angle, the second target coordinates of the rearview mirror are determined, and the relevant motor of the rearview mirror is adjusted so that the rearview mirror is at the second target coordinates.

[0071] In one embodiment of the present application, Figure 6 As shown, in the driving scenario where the vehicle 105 is in a curve, the third determination unit includes a sixth determination module, a seventh determination module and an eighth determination module, wherein the sixth determination module is used to determine the first preset blind spot 103 of the vehicle 105 according to the first target coordinates and the second target coordinates; the seventh determination module is used to determine the second preset blind spot 104 of the vehicle 105 at least according to the rotation angle of the steering wheel; the eighth determination module is used to determine the target blind spot of the vehicle 105 according to the first preset blind spot 103 and the second preset blind spot 104, thereby ensuring that the determined target blind spot is relatively accurate, and further solving the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driving habits of the driver.

[0072] In order to further ensure that the determined second preset blind spot is more reasonable, in another embodiment of the present application, the above-mentioned seventh determination module includes a third determination sub-module and a fourth determination sub-module, wherein the above-mentioned third determination sub-module is used to multiply the rotation angle of the above-mentioned steering wheel and a predetermined proportional coefficient to determine the target angle of the above-mentioned blind spot; the above-mentioned fourth determination sub-module is used to determine the above-mentioned second preset blind spot according to the sector formed by the above-mentioned target angle.

[0073] Specifically, Figure 6As shown, according to the driver's driving habits, when the vehicle 105 turns right, the driver's eyes also deviate to the right front. In this scenario, the driver's blind spot on the left is expanded. The inventors understand that the driver's head deflection angle (eyes look straight ahead, and turn the head instead of squinting when turning) is positively correlated with the curvature of the curve, and the curvature of the curve is also positively correlated with the turning angle of the car's steering wheel. According to multiple driving tests of the driver, the target angle of the second preset blind spot can be linearly regressed with the turning angle of the steering wheel into a linear equation:

[0074] θ=k·α

[0075] Wherein, α is the steering wheel angle, θ is the increase angle of the blind spot outside the turn (i.e., the target angle), and k is the proportional coefficient. Then, according to the sector formed by the above target angle, the second preset blind spot 104 is determined. In addition, in the present application, the target blind spot of the vehicle is the blind spot on both sides of the vehicle.

[0076] The blind spot determination device includes a processor and a memory. The first determination unit, the second determination unit and the third determination unit are stored in the memory as program units. The processor executes the program units stored in the memory to implement corresponding functions.

[0077] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of the difficulty in flexibly adjusting the blind spot monitoring range of the vehicle according to the driving habits of the driver in the prior art is solved by adjusting the kernel parameters.

[0078] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0079] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the above-mentioned method for determining a blind area is implemented.

[0080] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the method for determining the blind area is executed when the program is run.

[0081] In a typical embodiment of the present application, a vehicle is further provided, the vehicle comprising a blind spot determination device, the blind spot determination device being used to execute any one of the blind spot determination methods described above.

[0082] The above-mentioned vehicle includes a blind spot determination device, and the above-mentioned determination device is used to perform any one of the above-mentioned blind spot determination methods. In the above-mentioned determination method, first, the first target coordinates of the driver's eye point in the vehicle coordinate system are determined; then, according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the above-mentioned vehicle coordinate system, the deflection angle of the above-mentioned rearview mirror is determined, and the above-mentioned preset coordinates are adjusted according to the above-mentioned deflection angle to obtain the second target coordinates of the above-mentioned rearview mirror in the above-mentioned vehicle coordinate system; finally, the target blind spot of the above-mentioned vehicle is determined at least according to the above-mentioned first target coordinates and the above-mentioned second target coordinates. In this scheme, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art that uses a unified blind spot for different drivers, this scheme can flexibly adjust the target blind spot of the vehicle according to the first target coordinates of the driver's eye point and the second target coordinates of the rearview mirror. Since this solution does not constrain all drivers based on a unified blind spot, this solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the vehicle's blind spot monitoring range according to the driver's driving habits.

[0083] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0084] Step S101, determining the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle;

[0085] Step S102, determining a deflection angle of the rearview mirror according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle;

[0086] Step S103, determining the target blind spot of the vehicle at least based on the first target coordinates and the second target coordinates.

[0087] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0088] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0089] Step S101, determining the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle;

[0090] Step S102, determining a deflection angle of the rearview mirror according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle;

[0091] Step S103, determining the target blind spot of the vehicle at least based on the first target coordinates and the second target coordinates.

[0092] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0094] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0095] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0097] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0098] 1) In the method for determining the blind spot of the present application, first, the first target coordinates of the driver's eye point in the vehicle coordinate system are determined; then, the deflection angle of the rearview mirror is determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, and the preset coordinates are adjusted according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system; finally, the target blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. In this solution, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art that uses a unified blind spot for different drivers, this solution can flexibly adjust the target blind spot of the vehicle according to the first target coordinates of the driver's eye point and the second target coordinates of the rearview mirror. Since this solution does not constrain all drivers based on a unified blind spot, this solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the vehicle's blind spot monitoring range according to the driver's driving habits.

[0099] 2) In the blind spot determination device of the present application, the first determination unit is used to determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain the first target coordinates, the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle; the second determination unit is used to determine the deflection angle of the rearview mirror according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, and adjust the preset coordinates according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; the third determination unit is used to determine the target blind spot of the vehicle according to at least the first target coordinates and the second target coordinates. In this solution, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art, which uses a unified blind spot for different drivers, the present solution can flexibly adjust the target blind spot of the vehicle according to the first target coordinate of the driver's eye point and the second target coordinate of the rearview mirror. Since the present solution does not constrain all drivers according to a unified blind spot, the present solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the blind spot monitoring range of the vehicle according to the driver's driving habits.

[0100] 3) The vehicle of the present application includes a blind spot determination device, which is used to perform any of the blind spot determination methods described above. In the above determination methods, first, the first target coordinates of the driver's eye point in the vehicle coordinate system are determined; then, the deflection angle of the rearview mirror is determined according to the first target coordinates of the driver's eye point and the preset coordinates of the rearview mirror in the vehicle coordinate system, and the preset coordinates are adjusted according to the deflection angle to obtain the second target coordinates of the rearview mirror in the vehicle coordinate system; finally, the target blind spot of the vehicle is determined at least according to the first target coordinates and the second target coordinates. In this solution, the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, so as to realize the adaptive adjustment of the deflection angle of the rearview mirror according to different drivers, and ensure that the driver can have the best visual area. In addition, compared with the prior art, which uses a unified blind spot for different drivers, this solution can flexibly adjust the target blind spot of the vehicle according to the first target coordinates of the driver's eye point and the second target coordinates of the rearview mirror. Since this solution does not constrain all drivers based on a unified blind spot, this solution will not miss the driver's blind spot, ensuring that the determined target blind spot of the vehicle is more reasonable and accurate, thereby solving the problem in the prior art that it is difficult to flexibly adjust the vehicle's blind spot monitoring range according to the driver's driving habits.

[0101] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining a blind area, characterized in that: include: Determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle; Determining a deflection angle of the rearview mirror according to the first target coordinates and preset coordinates of the rearview mirror in the vehicle coordinate system, and adjusting the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; determining a target blind spot of the vehicle at least according to the first target coordinates and the second target coordinates, In a driving scenario where the vehicle is on a curve, determining a target blind spot of the vehicle at least according to the first target coordinates and the second target coordinates, including: determining a first preset blind spot of the vehicle according to the first target coordinates and the second target coordinates; determining a second preset blind spot of the vehicle at least according to a steering wheel rotation angle; determining the target blind spot of the vehicle according to the first preset blind spot and the second preset blind spot, The deflection angle includes a first deflection angle and a second deflection angle, the first deflection angle is the deflection angle of the rearview mirror in the horizontal direction, and the second deflection angle is the deflection angle of the rearview mirror in the vertical direction, and the deflection angle of the rearview mirror is determined according to the first target coordinates and the preset coordinates of the rearview mirror in the vehicle coordinate system, including: determining the best viewing angle of the driver according to the first target coordinates, when the driver is at the best viewing angle, the range of the two sides of the vehicle that the driver can observe is the largest; determining the first deflection angle and the second deflection angle of the vehicle according to the best viewing angle; The vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to a plane formed by the first coordinate axis and the second coordinate axis, the preset coordinates include a first preset coordinate on the first coordinate axis, a second preset coordinate on the second coordinate axis and a third preset coordinate on the third coordinate axis, and the preset coordinates are adjusted according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, including: determining a first moving distance of the rearview mirror on the first coordinate axis according to the first deflection angle, and determining a second moving distance of the rearview mirror on the second coordinate axis according to the second deflection angle; adjusting the first preset coordinate according to the first moving distance to obtain a third target coordinate, and adjusting the second preset coordinate according to the second moving distance to obtain a fourth target coordinate, the third target coordinate is the coordinate of the rearview mirror on the first coordinate axis, and the fourth target coordinate is the coordinate of the rearview mirror on the second coordinate axis; the third target coordinate, the fourth target coordinate and the third preset coordinate constitute the second target coordinate of the rearview mirror in the vehicle coordinate system.

2. The determination method according to claim 1, characterized in that: The vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a horizontal coordinate axis, the second coordinate axis is perpendicular to the first coordinate axis, and the third coordinate axis is perpendicular to a plane formed by the first coordinate axis and the second coordinate axis. The vehicle also includes a camera. Determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain the first target coordinates, including: Determine the distance of the driver's seat on the first coordinate axis as the first coordinate of the driver's eye point, and calculate the distance of the driver's seat on the second coordinate axis to obtain a second coordinate; estimating a third coordinate of the driver's eye point on the second coordinate axis according to the human body model and the second coordinate; The fourth coordinate of the driver's eye point is determined according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate, and the first target coordinate of the driver's eye point in the vehicle coordinate system is constituted by the first coordinate, the third coordinate and the fourth coordinate.

3. The determination method according to claim 2, characterized in that: Determining a fourth coordinate of the driver's eye point according to the coordinate information of the camera in the vehicle coordinate system and the third coordinate includes: Determine the angle between the camera and the driver's eye point to obtain a target angle; The fourth coordinate of the driver's eye point is determined according to the coordinate information of the camera on the third coordinate axis of the vehicle coordinate system and the target angle.

4. The determination method according to claim 1, characterized in that: Determining a second preset blind spot of the vehicle at least according to a rotation angle of a steering wheel includes: Multiplying the steering wheel rotation angle and a predetermined proportionality coefficient to determine a target angle of the blind spot outside the turn; The second preset blind area is determined according to the sector formed by the target angle.

5. A blind spot determination device, characterized in that: include: A first determination unit is used to determine the coordinates of the driver's eye point in the vehicle coordinate system to obtain a first target coordinate, wherein the vehicle coordinate system is a coordinate system established with the target point as the coordinate origin, and the target point is the center point of the rear axle of the vehicle; a second determining unit, configured to determine a deflection angle of the rearview mirror according to the first target coordinates and preset coordinates of the rearview mirror in the vehicle coordinate system, and to adjust the preset coordinates according to the deflection angle to obtain a second target coordinate of the rearview mirror in the vehicle coordinate system, wherein the rearview mirror is installed on the vehicle; a third determining unit, configured to determine a target blind spot of the vehicle at least according to the first target coordinates and the second target coordinates, In a driving scenario where the vehicle is on a curve, the third determination unit includes a sixth determination module, a seventh determination module and an eighth determination module, wherein the sixth determination module is used to determine a first preset blind spot of the vehicle according to the first target coordinates and the second target coordinates; the seventh determination module is used to determine a second preset blind spot of the vehicle according to at least a steering wheel rotation angle; the eighth determination module is used to determine the target blind spot of the vehicle according to the first preset blind spot and the second preset blind spot, The deflection angle includes a first deflection angle and a second deflection angle, the first deflection angle is the deflection angle of the rearview mirror in the horizontal direction, and the second deflection angle is the deflection angle of the rearview mirror in the vertical direction, the second determining unit includes a third determining module and a fourth determining module, wherein the third determining module is used to determine the best viewing angle of the driver according to the first target coordinates, when the driver is at the best viewing angle, the range of the two sides of the vehicle that the driver can observe is the largest; the fourth determining module is used to determine the first deflection angle and the second deflection angle of the vehicle according to the best viewing angle; The vehicle coordinate system includes a first coordinate axis, a second coordinate axis and a third coordinate axis, the first coordinate axis is a coordinate axis in the horizontal direction, the second coordinate axis is perpendicular to the first coordinate axis, the third coordinate axis is perpendicular to a plane formed by the first coordinate axis and the second coordinate axis, the preset coordinates include a first preset coordinate on the first coordinate axis, a second preset coordinate on the second coordinate axis and a third preset coordinate on the third coordinate axis, the second determining unit also includes a fifth determining module, an adjustment module and a combination module, wherein the fifth determining module is used to determine a first moving distance of the rearview mirror on the first coordinate axis according to the first deflection angle, and to determine a second moving distance of the rearview mirror on the second coordinate axis according to the second deflection angle; the adjustment module is used to adjust the first preset coordinate according to the first moving distance to obtain a third target coordinate, and to adjust the second preset coordinate according to the second moving distance to obtain a fourth target coordinate, the third target coordinate is the coordinate of the rearview mirror on the first coordinate axis, and the fourth target coordinate is the coordinate of the rearview mirror on the second coordinate axis; the combination module is used to form the second target coordinate of the rearview mirror in the vehicle coordinate system by the third target coordinate, the fourth target coordinate and the third preset coordinate.

6. A processor, characterized in that: The processor is used to run a program, wherein the program executes the blind area determination method according to any one of claims 1 to 4 when running.

7. A vehicle, characterized in that: include: A blind spot determination device, the determination device is used to execute the blind spot determination method according to any one of claims 1 to 4.

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