Vehicle control method and vehicle system executing the same

Abstract

Disclosed are a vehicle control method and a vehicle system for performing the vehicle control method, the vehicle system comprising: a communication device configured to communicate with a user terminal; an image capturing device comprising a plurality of first cameras respectively coupled to side mirrors of a vehicle; and a control device configured to, when the vehicle is parked and folding of the side mirrors is initiated, acquire first image data captured by the plurality of first cameras for each folding angle of the side mirrors; during parking of the vehicle, when unfolding of the side mirrors is initiated by a control input received from the user terminal, acquire second image data captured by the plurality of first cameras for each folding angle; detect an obstacle added around the side mirrors by comparing the first image data and the second image data; acquire position information about the added obstacle by using the second image data; and predict a probability of collision of the added obstacle with the corresponding side mirror based on the position information about the added obstacle.

Description

Technical Field

[0001] This invention relates to a vehicle control method and a vehicle system for executing the vehicle control method. More specifically, this invention relates to a vehicle control method for remotely controlling a surround view monitor system, and a vehicle system for executing the vehicle control method for remotely controlling a surround view monitor system. Background Technology

[0002] Connected car systems enable remote control of the vehicle via an app installed on the driver's smartphone, even when the driver is away from the vehicle. For example, a connected car system allows the driver to view image information about the vehicle's current surroundings through the smartphone app. The connected car system uses images of the vehicle's surroundings acquired through a Surround View Monitor (SVM) system to provide the driver with an image of the vehicle's current surroundings via their smartphone.

[0003] The SVM system is a parking safety system that provides a real-time 360-degree view of the area around a vehicle, as if viewed from above. The SVM system receives images from ultra-wide-angle cameras located at the front, sides, and rear of the vehicle, processes the received images (such as distortion correction, viewpoint shifting, and image synthesis), and provides an image of the vehicle's surroundings.

[0004] Cameras located on the lateral sides of a vehicle are typically mounted on the side mirrors on the left and right sides. Therefore, in order for the SVM system to acquire images of the vehicle's surroundings, the side mirrors need to be in the deployed position. Consequently, to allow the driver to check the vehicle's image via a smartphone app, the driver must first check the folded position of the side mirrors and, if so, remotely control them to unfold.

[0005] Additionally, when a driver wants to check the vehicle's image from a location other than near the vehicle, there are instances where the driver manipulates the vehicle's side mirrors without being aware of the surrounding environment. In such cases, if there is an object around the side mirror, the mirror deploys and collides with the corresponding object, resulting in damage to the mirror. Summary of the Invention

[0006] Technical issues

[0007] The present invention aims to provide a vehicle control method and a vehicle system for implementing the vehicle control method, which can prevent damage to the side mirrors when remotely controlling the side mirrors through the vehicle's panoramic view monitor (SVM) function.

[0008] Technical solution

[0009] An exemplary embodiment of the present invention provides a vehicle system, comprising: a communication device configured to communicate with a user terminal; an image capturing device including a plurality of first cameras, the plurality of first cameras being respectively coupled to a side mirror of the vehicle; and a control device configured to: when the vehicle is parked and the folding of the side mirror is initiated, acquire first image data captured by the plurality of first cameras for each folding angle of the side mirror; during the vehicle being parked, when the unfolding of the side mirror is initiated by a control input received from the user terminal, acquire second image data captured by the plurality of first cameras for each folding angle; detect an added obstacle around the side mirror by comparing the first image data and the second image data; obtain positional information about the added obstacle by using the second image data; and predict the probability of the added obstacle colliding with the corresponding side mirror based on the positional information about the added obstacle.

[0010] When no additional obstacles are detected around the side mirror, the control device can activate the remote control function of the user terminal of the panoramic field of view monitor system.

[0011] When the side mirror is in the manually folded state, the control device can keep the side mirror in the folded state even when it receives the control output from the user terminal, and disable the remote control function for the panoramic field of view monitor system.

[0012] When a collision between an added obstacle and its corresponding side mirror is predicted, the control device can work with the autonomous driving system to move the vehicle.

[0013] The vehicle system may further include a detection device configured to detect obstacles in the space surrounding the vehicle and acquire surrounding environmental information including positional information about the detected obstacles. The control device may generate obstacle map data corresponding to the space surrounding the vehicle based on the surrounding environmental information acquired while the vehicle is stationary. The autonomous driving system may move the vehicle to a position where the side mirror will not collide with the obstacles, based on the positional information of the added obstacles and the obstacle map data.

[0014] When an added obstacle is detected, the control device can update the obstacle map data to include the location information of the added obstacle based on the surrounding environment information obtained through the detection device. The autonomous driving system can then obtain a movement path based on the updated obstacle map data to move the vehicle to a position where the side mirror will not collide with the obstacle.

[0015] When an added obstacle is detected, the autonomous driving system can move the vehicle so that the added obstacle is within the detection range of the detection device. The obstacle map can be updated based on surrounding environmental information acquired while the vehicle is moving, ensuring that the added obstacle remains within the detection range of the detection device.

[0016] When the vehicle is moved to a position where the side mirror will not collide with an obstacle, the control device can unfold the side mirror and activate the remote control function of the panoramic field of view monitor system.

[0017] The image capturing device may further include at least one second camera located at the front or rear of the vehicle. When the remote control function of the panoramic view monitor system is activated, the control device may transmit the surrounding image data acquired by using the image capturing device to the user terminal based on control input received from the user terminal.

[0018] The control device can detect added obstacles by comparing first and second image data corresponding to the same folding angle.

[0019] When an added obstacle is detected, the control device can acquire third image data captured by the corresponding first camera while the corresponding side mirror is additionally extended at a predetermined angle, and obtain position information about the added obstacle by using the second image data and the third image data including the added obstacle.

[0020] During the folding process of the side mirror, when at least one side mirror collides with an obstacle, the control device can control the side mirror to be in the unfolded state.

[0021] When the side mirror is in the deployed state, the control device can activate the remote control function of the panoramic field of view monitor system when a remote control request for the panoramic field of view monitor system is received from the user terminal.

[0022] When the vehicle is completely stopped and the doors are locked, the control device can fold the side mirror.

[0023] Another exemplary embodiment of the present invention provides a method for controlling a vehicle, the vehicle including a plurality of cameras respectively coupled to a side mirror, the method comprising: when the vehicle is parked and the folding of the side mirror is initiated, acquiring first image data captured by the plurality of first cameras for each folding angle of the side mirror; during the vehicle being parked, when the unfolding of the side mirror is initiated by a control input received from a user terminal, acquiring second image data captured by the plurality of first cameras for each folding angle; detecting an added obstacle around the side mirror by comparing the first image data and the second image data; when the added obstacle is detected, acquiring positional information about the added obstacle by using the second image data; and predicting the probability of the added obstacle colliding with the corresponding side mirror based on the positional information about the added obstacle.

[0024] The method may further include: activating a remote control function for the user terminal of the panoramic view monitor system when no additional obstacle around the side mirror is detected; and providing the user terminal with image data acquired by capturing images of the space surrounding the vehicle, based on the activation of the remote control function.

[0025] The method may further include: keeping the side mirror in a folded state when it is in a manually folded state; and disabling the remote control function for the panoramic view monitor system.

[0026] The method may further include, when a collision between an added obstacle and the corresponding side mirror is predicted, cooperating with the autonomous driving system to move the vehicle.

[0027] The method may further include: acquiring surrounding environment information via a detection device while the vehicle is parked, the detection device detecting obstacles located in the space surrounding the vehicle; and generating obstacle map data corresponding to the space surrounding the vehicle based on the surrounding environment information. The movement of the vehicle may include moving the vehicle to a position where the side mirror will not collide with the obstacle, based on the location information of the added obstacles and the obstacle map data, using the autonomous driving system.

[0028] Moving the vehicle to a position where the side mirror will not collide with an obstacle may include: when an added obstacle is detected, updating the obstacle map data based on surrounding environment information obtained through the detection device to include location information about the added obstacle; and obtaining a movement path based on the updated obstacle map data to move the vehicle to a position where the side mirror will not collide with the obstacle.

[0029] The update of the obstacle map data may include: when an added obstacle is detected, moving the vehicle via the autonomous driving system so that the added obstacle is within the detection range of the detection device; and updating the obstacle map data based on surrounding environmental information obtained while the vehicle is moving so that the added obstacle is within the detection range of the detection device.

[0030] The method may further include: fully deploying the side mirror when the vehicle is moved to a position where the side mirror will not collide with an obstacle; activating the remote control function of the panoramic view monitor system; and transmitting the surrounding image data obtained by capturing images of the space around the vehicle to the user terminal.

[0031] The detection of additional obstacles around the side mirror may include detecting the additional obstacles by comparing first image data and second image data corresponding to the same folding angle.

[0032] Acquiring location information about the added obstacle may include: when the added obstacle is detected, acquiring third image data captured by the corresponding first camera with the corresponding side mirror additionally deployed at a predetermined angle; and acquiring location information about the added obstacle by using the second image data and the third image data including the added obstacle.

[0033] The method may further include controlling the side mirror to be in an unfolded state when at least one side mirror collides with an obstacle during the folding process.

[0034] The method may further include: when the side mirror is in the deployed state, and a remote control request for the panoramic field of view monitor system is received from the user terminal, activating the remote control function for the panoramic field of view monitor system.

[0035] Beneficial effects

[0036] According to these exemplary embodiments, when the vehicle is remotely controlled using the panoramic view monitor (SVM) function, damage to the side mirrors due to collisions between the side mirrors and obstacles can be prevented. Attached Figure Description

[0037] Figure 1 A vehicle system according to an exemplary embodiment is schematically illustrated.

[0038] Figure 2 A panoramic view monitor (SVM) control device according to an exemplary embodiment is schematically illustrated.

[0039] Figure 3A and Figure 3BThe illustration shows an example of correcting image data around the side mirrors for each folding angle in a vehicle system according to an exemplary embodiment.

[0040] Figure 4 It is a diagram used to describe the distance measurement methods used in stereo vision.

[0041] Figure 5A and Figure 5B The illustration shows an example of moving a vehicle to obtain information about newly added obstacles in a vehicle system according to an exemplary embodiment.

[0042] Figure 6 The illustration shows an example of moving and stopping the vehicle to avoid a collision between the side mirror and a newly added obstacle in the vehicle system according to an exemplary embodiment.

[0043] Figure 7A and Figure 7B A vehicle control method according to an exemplary embodiment is schematically illustrated.

[0044] Explanation of reference numerals in the attached figures:

[0045] 1: Vehicle;

[0046] 5: User terminal;

[0047] 10: Vehicle systems;

[0048] 11: Communication device;

[0049] 12: Detection device;

[0050] 13: Image capturing device;

[0051] 14: Side mirror drive mechanism;

[0052] 15: SVM control device;

[0053] 16: Autonomous driving control device;

[0054] 21: Vehicle status information acquisition unit;

[0055] 22: Surrounding environment information acquisition unit;

[0056] 23: Image processing unit;

[0057] 24: Control unit. Detailed Implementation

[0058] In the following description, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, and identical or similar components will be identified by identical or similar reference numerals, and repeated descriptions thereof will be omitted.

[0059] The suffixes “module” and / or “…unit” used for the constituent elements described below are given or combined only for ease of writing this specification, and the suffixes themselves have no distinguishing meaning or function. Furthermore, in describing exemplary embodiments disclosed in this invention, detailed descriptions related to well-known functions or configurations will be omitted when it is determined that such detailed descriptions might ambiguously define the subject matter of the exemplary embodiments disclosed in this invention. Furthermore, the accompanying drawings are provided to facilitate a clear understanding of the exemplary embodiments disclosed in this specification, and the technical spirit disclosed in this specification is not limited by the drawings; it will be understood that the invention includes all modifications, equivalents, and alternatives contained within the spirit and scope of the invention.

[0060] Terms including ordinary numbers (such as first and second) are used to describe various constituent elements, but these constituent elements are not limited by these terms. These terms are only used to distinguish one constituent element from another.

[0061] It should be understood that when a component is referred to as "coupled to" or "connected to" another component, a component can be directly coupled to or connected to the other component, but intermediate components may also exist. Conversely, when a component is referred to as "directly coupled to" or "directly connected to" another component, it should be understood that there are no intermediate components.

[0062] In this application, it will be understood that the terms “comprising” and “having” are intended to specify the presence or combination thereof of the features, figures, steps, operations, constituent elements and components described in this specification, and do not preclude the possibility of the presence or addition of one or more other features, figures, steps, operations, constituent elements and components or combinations thereof.

[0063] In addition, the terms “…machine,” “…device,” “module,” and “apparatus” used in this specification all refer to a unit for performing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0064] The vehicle control method and the vehicle system performing the vehicle control method according to exemplary embodiments will be described in detail below with reference to the accompanying drawings. In the following description, the operation of folding a side mirror toward the vehicle is referred to as "folding," while the operation of unfolding a side mirror toward the outside of the vehicle is referred to as "unfolding." Furthermore, in the following description, the folding angle of a side mirror can be described as the angle formed by a surface of the side mirror on which a mirror or camera is positioned and the outer surface of the vehicle (or the door of the vehicle).

[0065] Figure 1 A vehicle system according to an exemplary embodiment is schematically illustrated.

[0066] refer to Figure 1 The vehicle system 10 may include a communication device 11, a detection device 12, an image capturing device 13, a side mirror driving device 14, a panoramic view monitor (SVM) control device 15, and an autonomous driving control device 16.

[0067] The communication device 11 can connect the vehicle system 1 and an external device (e.g., user terminal 5) via a wireless communication network, and send and receive data, information, control signals, etc., between the vehicle system 1 and the external device. For example, the communication device 11 can receive remote control signals from the user terminal 5. Furthermore, for example, the communication device 11 can also transmit image data of the space surrounding the vehicle (hereinafter referred to as "surrounding space image data") acquired by the SVM control device 15 to the user terminal 5.

[0068] The detection device 12 may include at least one sensor installed on the vehicle and may acquire information about the vehicle’s surrounding environment (hereinafter referred to as “surrounding environment information”) and information about the vehicle’s status.

[0069] For example, the detection device 12 may include at least one sensor, such as a radar sensor, a laser imaging detection and ranging (LADAR) sensor, or an ultrasonic sensor, for detecting objects (e.g., another vehicle) around the vehicle. The radar sensor may be used to transmit electromagnetic signals to the area around the vehicle; and detect information such as distance, speed, and direction of movement of the transmitted electromagnetic signals reflected and returned by surrounding objects (e.g., another vehicle) based on the signals reflected and returned by these objects. The LADAR sensor may be used to transmit laser signals to the area around the vehicle and detect information such as distance, speed, and direction of movement of the transmitted laser signals reflected and returned by surrounding objects (e.g., another vehicle), and the LADAR sensor may also be used to monitor shape information about surrounding objects by extracting three-dimensional spatial information about the vehicle's surroundings. The ultrasonic sensor may be used to transmit ultrasonic signals to the area around the vehicle and detect information such as distance, speed, and direction of movement of the transmitted ultrasonic signals reflected and returned by surrounding objects (e.g., another vehicle).

[0070] Furthermore, for example, the detection device 12 may also include at least one sensor, such as an acceleration sensor, a vehicle speed sensor, an accelerator pedal sensor (APS), a brake pedal sensor (BPS), and a steering wheel sensor, for detecting the vehicle's status information (driving status, operating status, handling status, etc.).

[0071] The image capturing device 13 may include multiple cameras positioned within the vehicle. For example, the image capturing device 13 may include cameras respectively mounted on the front, lateral sides, and rear of the vehicle, capturing images of the vehicle's surrounding area. In this document, the cameras mounted on the lateral sides of the vehicle may be respectively mounted to side mirrors positioned on the lateral sides of the vehicle, or may be coupled to the side mirrors in combination with them. At least some of the multiple cameras configured in the image capturing device 13 may be wide-angle cameras capable of capturing wide-angle images. For example, the camera coupled to each side mirror may be a wide-angle camera capable of capturing not only the space in front of the side mirror, but also the lateral space and the rear space of the side mirror.

[0072] The side mirror drive unit 14 controls the driving of the side mirrors (not shown) mounted on the two lateral sides of the vehicle. For example, the side mirror drive unit 14 can fold / unfold the side mirror or adjust the folding angle of the side mirror by controlling the motor (not shown) coupled to each side mirror. The side mirror drive unit 14 can also monitor the operating status of the motor driving each side mirror and detect whether each side mirror has collided with an obstacle based on the monitoring results. During the control of folding / unfolding the side mirror, if the folding / unfolding of the side mirror is interrupted due to a collision between the side mirror and an obstacle, the current of the motor controlling the folding / unfolding of the corresponding side mirror can increase sharply. Therefore, the side mirror drive unit 14 can detect whether each side mirror has collided with an obstacle by monitoring the current of the motor driving each side mirror.

[0073] SVM control device 15 is a control device used to control the overall operation of the SVM system. Specifically, SVM control device 15 can acquire image data of the vehicle's surrounding space (e.g., panoramic view image data, as if looking down at the 360-degree space around the vehicle from above) by image data captured by image capturing device 13, and synthesize / process this image data. The surrounding space image data generated by SVM control device 15 can be transmitted to a display (not shown) installed in the vehicle and displayed on the screen. The surrounding space image data generated by SVM control device 15 can also be transmitted to user terminal 5 via communication device 11 upon request from user terminal 5.

[0074] The vehicle system 10 may further include an autonomous driving control system, which includes an autonomous driving control device 16. This autonomous driving control system is a system that controls the vehicle to drive to its destination or park in a parking area with minimal or no driver intervention. The autonomous driving control system can automatically identify and determine the environment around the vehicle, the vehicle's status, etc., and control the vehicle based on this determination, even without driver intervention.

[0075] In order to acquire the vehicle's surrounding space image data via the SVM control device 15, the side mirrors need to be in an unfolded state so that the cameras coupled to the side mirrors can capture images of the area around the vehicle. Therefore, when the side mirrors are in a folded state, the SVM control device 15 needs to first control the side mirrors to unfold when requesting images of the vehicle's surroundings from the user terminal 5.

[0076] When the driver is located outside the vicinity of the vehicle, it is impossible to inspect obstacles around the vehicle's side mirrors. In this situation, when the side mirrors are deployed remotely via the SVM control unit 15, it is possible for the side mirrors to collide with and be damaged by surrounding obstacles.

[0077] To address this issue, the SVM control device 15 according to the exemplary embodiment can detect the presence or absence of obstacles that may collide with each side mirror during the process of controlling the side mirrors to be in the deployed state. Subsequently, the SVM control device 15 can determine whether to continuously control the side mirrors to be in the deployed state based on whether an obstacle that may collide with the side mirror is detected near it. That is, during the deployment of the side mirrors, when no obstacle that may collide with the side mirror is detected near it, the SVM control device 15 can control the side mirrors to be in the fully deployed state via the side mirror drive device 14. In this specification, the fact that the side mirrors are fully deployed means that the side mirrors are deployed to a set folding angle (the folding angle maintained before each side mirror transitions to the folded state).

[0078] If an obstacle that may collide with at least one side mirror is detected during the unfolding of the side mirrors, the SVM control unit 15 can fold the side mirrors again via the side mirror drive unit 14 and deactivate (i.e., terminate) the remote control function via the user terminal 5. When the vehicle system 10 is installed together with the autonomous driving system, when an obstacle that may collide with at least one side mirror is detected, the SVM control unit 15 can also attempt to re-unfold the side mirrors after cooperating with the autonomous driving control unit 16 to move the vehicle.

[0079] The following text will refer to Figure 2 The functions of the SVM control unit 15 are described in more detail.

[0080] refer to Figure 2 The SVM control device 15 may include a vehicle status information acquisition unit 21, a surrounding environment information acquisition unit 22, an image processing unit 23, and a control unit 24.

[0081] The vehicle status information acquisition unit 21 can acquire vehicle status information related to the vehicle's status from the detection device 12, the side mirror drive device 14, or other electronic control units (ECUs) / drive devices in the vehicle. For example, the vehicle status information acquisition unit 21 can acquire vehicle status information representing the brake pedal operation status, current gear shift position, door lock status, etc., through the detection device 12. Furthermore, the vehicle status information acquisition unit 21 can also communicate with the side mirror drive device 14 to acquire status information representing whether the side mirror is folded, whether the side mirror is manually folded, the folding angle, whether the side mirror collides with an obstacle, etc.

[0082] The surrounding environment information acquisition unit 22 can acquire surrounding environment information related to the vehicle's surrounding environment based on information acquired by the detection device 12 or image data captured by the image capturing device 13. That is, the surrounding environment information acquisition unit 22 can acquire information about the presence and location of obstacles around the vehicle (relative to the vehicle's direction and distance) from the information acquired by the detection device 12 or from image data captured by the image capturing device 13 of the vehicle's surrounding space. When an obstacle is detected in the vehicle's surrounding space and its location information is acquired, the surrounding environment information acquisition unit 22 can map the location of each obstacle to a virtual space corresponding to the vehicle's surrounding space and generate obstacle map data.

[0083] The image processing unit 23 can process (synthesize) image data captured by the image capturing device 13 and generate peripheral space image data for the vehicle. This peripheral space image data may include image data acquired by capturing the vehicle's peripheral space from the front, sides, or rear of the vehicle. Furthermore, the peripheral space image data may also include image data in a panoramic view format (hereinafter referred to as "SVM image"), which is generated by synthesizing image data acquired by capturing the vehicle's peripheral space.

[0084] The image processing unit 23 can also acquire image data (hereinafter referred to as "side-view mirror peripheral image data") obtained by capturing the surrounding space of the side-view mirror through a camera coupled to each side-view mirror during the folding or unfolding process. The image processing unit 23 can acquire side-view mirror peripheral image data corresponding to each side-view mirror at multiple different folding angles during the folding or unfolding process. For example, when the folding angle of the side-view mirror in the fully folded state is 90°, the image processing unit 23 can acquire side-view mirror peripheral image data at 10° intervals. That is, the image processing unit 23 can acquire side-view mirror peripheral image data captured when the folding angle of each side-view mirror is 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, and 90°. The acquired side-view mirror peripheral image data can be used to predict whether the side-view mirror will collide with an obstacle when the side-view mirror is unfolded by remote control of the user terminal 5.

[0085] Meanwhile, image data captured by a wide-angle camera may include distortion areas with severe distortion. Therefore, when the camera coupled to the side mirror is a wide-angle camera, and additional obstacles are detected, or the location of additional obstacles is detected using image data captured by that wide-angle camera (described below), detection reliability may decrease, potentially leading to malfunction. Therefore, when acquiring image data around the side mirror, the image processing unit 23 can also perform correction, i.e., remove distortion areas from the image data around the side mirror.

[0086] Figure 3A and Figure 3B The illustration shows an example of correcting the peripheral image data of the side mirror for each folding angle.

[0087] Figure 3A The illustration shows an example of image data around the side mirror captured by a camera coupled to the side mirror when the side mirror is folded at 0° (i.e., the side mirror is folded). Furthermore, Figure 3B The illustration shows an example of image data around the side mirror taken by a camera coupled to the side mirror when the side mirror is folded at a 90° angle (i.e., the side mirror is fully extended).

[0088] refer to Figure 3A and Figure 3BThe image processing unit 23 removes severely distorted areas from the peripheral image data of the side mirror captured by the camera coupled to the side mirror, and corrects the peripheral image data. The removed distorted areas can be set differently for each folding angle. In this exemplary embodiment, information regarding the areas of distorted areas removed during correction for each folding angle of the side mirror can be preset during the manufacture of the vehicle system or during calibration. Therefore, when the peripheral image data of the side mirror is acquired, the image processing unit 23 can proceed with the correction of distorted areas removed from the peripheral image data of the side mirror based on the predetermined information regarding the removed areas.

[0089] When a remote control request from the SVM system is received from the user terminal 5, the control unit 24 can determine whether to deploy the side mirrors based on the vehicle status information obtained through the vehicle status information acquisition unit 21. For example, when the side mirrors are in a manually folded state where the driver manually pushes and folds them, the control unit 24 can prevent the side mirrors from deploying even if the remote control request from the SVM system is received.

[0090] When the deployment of the side mirror is determined, the control unit 24 can control the side mirror drive device 14 to gradually deploy the side mirror. Furthermore, for each folding angle, the control unit 24 can compare the side mirror peripheral image data acquired during the gradual deployment process with the side mirror peripheral image data acquired during the folding process. Further, based on the comparison result, the control unit 24 can check whether there are any newly added obstacles around the side mirror that differ from the situation when the side mirror is folded. That is, when the side mirror peripheral image data stored during the folding process differs from the side mirror peripheral image data acquired at the same folding angle during deployment, the control unit 24 can identify whether there are any newly added obstacles to the side mirror peripheral image data acquired during deployment by comparing these two image data. When the camera coupled to the side mirror is a wide-angle camera, the side mirror peripheral image data may include not only the front and lateral space images of the side mirror, but also a portion of the rear space image of the side mirror. Therefore, the control unit 24 can identify newly added obstacles behind the side mirror before colliding with it, based on the result of this comparison.

[0091] When a newly added obstacle is detected in the perimeter area of ​​the side mirror, the control unit 24 can obtain location information about the newly added obstacle by using perimeter image data acquired during the deployment process. In this case, the control unit 24 needs to obtain distance information between the obstacle and the side mirror by using perimeter image data acquired through a camera mounted on the side mirror.

[0092] In this exemplary embodiment, when a newly added obstacle is detected from the side mirror periphery image data acquired during deployment, the control unit 24 can additionally deploy the corresponding side mirror at a predetermined angle via the side mirror drive device 14. Next, the control unit 24 can also additionally acquire side mirror periphery image data, wherein the newly added obstacle is captured by a camera coupled to the corresponding side mirror. When these two side mirror periphery image data, acquired by capturing the newly added obstacle at different folding angles, are acquired through this method, the control unit 24 can obtain positional information about the newly added obstacle using a distance measurement method used in stereo vision.

[0093] Figure 4 It is a diagram used to describe the distance measurement methods used in stereo vision.

[0094] refer to Figure 4 The distance measurement equation used in stereo vision can be expressed as the following equation 1.

[0095] [Equation 1]

[0096] Z = Bf / D

[0097] In Equation 1, Z can represent the distance between camera C and object OB. Further, B can represent the distance between cameras C, and f can represent the focal length between camera C and the image plane IP of the camera. Further, D represents the difference, indicating the positional difference between the left IP and right IP of the same point, and can be expressed as (x1-x2).

[0098] In an exemplary embodiment, in Equation 1, Z may correspond to the distance between the camera mounted to the side mirror and obstacles around the side mirror. Further, B may correspond to the difference in camera position when capturing peripheral image data of the two side mirrors. The camera position corresponding to each folding angle of the side mirror may be preset during vehicle system 10 manufacturing or calibration, or may be calculated based on the side mirror's attitude information and the camera position within the side mirror. The control unit 24 may identify the side mirror folding angle at which the peripheral image data of the two side mirrors is captured, such that the control unit 24 may also acquire the change in camera position corresponding to that folding angle.

[0099] In this exemplary embodiment, in Equation 1, f corresponds to the focal length of the camera mounted to the side mirror, and can use a value preset during the manufacturing or calibration of the vehicle system 10. Furthermore, D can be obtained from positional differences in the peripheral image data of each side mirror, indicating newly added obstacles in each peripheral image data.

[0100] Reference Figure 2When the control unit 24 obtains the location information of the newly added obstacle (information about the distance to the side mirror), it can determine whether the corresponding obstacle will collide with the side mirror as the side mirror continues to unfold.

[0101] When it is predicted that the side mirror will collide with a newly added obstacle during the side mirror deployment, the control unit 24 can disable the SVM remote control function in order to prevent damage to the side mirror.

[0102] Furthermore, when the autonomous driving system is installed in the vehicle and the vehicle's autonomous driving function is activated, the control unit 24 can coordinate with the autonomous driving system to move the vehicle to a position that avoids collisions with obstacles, and then execute the SVM remote control function normally. In this case, when a collision with an obstacle is predicted during the deployment of the side mirrors, the control unit 24 can transmit a vehicle movement request and position information about the corresponding obstacle to the autonomous driving control device 16.

[0103] When the autonomous driving control unit 16 receives a vehicle movement request and obstacle location information from the SVM control unit 15, the autonomous driving control unit 16 can move the vehicle by controlling the steering wheel angle, vehicle speed, gear position, etc., based on obstacle map data and the surrounding environment information of the vehicle obtained through the detection device 12. Before moving the vehicle, the autonomous driving control unit 16 can update the obstacle map data based on the surrounding environment information of the vehicle obtained through the detection device 12. That is, the autonomous driving control unit 16 can obtain information (location information, shape information, etc.) about newly added obstacles through the detection device 12 (e.g., radar sensors, LADAR sensors, and ultrasonic sensors) and update the previously stored obstacle map data based on the obtained information. In this case, to facilitate the acquisition of information about newly added obstacles and improve the accuracy of that information, the autonomous driving control unit 16 can also move the vehicle to a location where information about the newly added obstacles is easily accessible.

[0104] Figure 5A and Figure 5B The illustration shows an example of moving a vehicle to obtain information about newly added obstacles.

[0105] refer to Figure 5A Based on the detection of the newly added obstacle NOB on the left side of vehicle 1, the autonomous driving control device 16 can move vehicle 1 to the right rear side. (Reference) Figure 5BBased on the detection of a newly added obstacle (NOB) on the right side of vehicle 1, the autonomous driving control unit 16 can move vehicle 1 to the left rear side. This is to facilitate the detection of information about the newly added obstacle (NOB) on the right side using radar, LADAR, or ultrasonic sensors located on the front surface of vehicle 1. That is, the autonomous driving control unit 16 can easily acquire information about the newly added obstacle (NOB) by moving the vehicle, ensuring that the newly added obstacle (NOB) is within the detection range of the radar, LADAR, or ultrasonic sensors on the front surface of vehicle 1. Simultaneously, the autonomous driving control unit 16 can move vehicle 1 within a range that does not collide with existing obstacles (OBs) included in the obstacle map data, based on previously stored obstacle map data, while moving the vehicle.

[0106] As described above, when the obstacle map data is updated to include information about newly added obstacles, the autonomous driving control device 16 can obtain a position where the side mirrors of vehicle 1 will not collide with obstacles OB and NOB even when the side mirrors are fully deployed; and obtain an autonomous driving movement path based on the updated obstacle map data to reach the corresponding position. Next, the autonomous driving control device 16 can move and stop the vehicle by controlling the steering wheel angle, vehicle speed, gear position, etc., based on the generated autonomous driving movement path and the surrounding environment information of the vehicle obtained by the detection device 12.

[0107] refer to Figure 6 If a newly added obstacle NOB is detected on the left side of vehicle 1, and the SVM control device 16 determines that the corresponding obstacle NOB may collide with the side mirror of vehicle 1, the autonomous driving control device 16 can move vehicle 1 to the right and stop vehicle 1.

[0108] Reference Figure 2 When the side mirrors are deployed in coordination with the autonomous driving control unit 16, and when the vehicle is moved to a position where newly added obstacles will not collide with the side mirrors, the control unit 24 of the SVM control unit 15 can control the side mirror drive unit 14 to fully deploy the side mirrors. Furthermore, when the side mirrors are fully deployed, the control unit 24 can enter the remote control mode of the SVM system and operate the SVM remote control function normally. That is, in response to remote control by the user terminal 5, the control unit 24 can transmit the surrounding image data of the vehicle acquired by the image processing unit 23 to the user terminal 5.

[0109] The vehicle system 10 may include one or more ECUs for executing the operation of the SVM control unit 15 and the autonomous driving control unit 16. Meanwhile, although Figure 1In the illustrated example, the SVM control device 15 and the autonomous driving control device 16 are implemented as separate control devices, but the exemplary embodiments of the present invention are not limited thereto. According to another exemplary embodiment, at least some functions of the autonomous driving control device 16 may also be performed by the SVM control device 15, and at least some functions of the SVM control device 15 may also be performed by the autonomous driving control device 16.

[0110] In the following text, the vehicle control method of vehicle system 10, more specifically, a method for controlling the remote control function of SVM system through vehicle system 10, will refer to... Figure 7A and Figure 7B Provide a detailed description.

[0111] Figure 7A and Figure 7B A vehicle control method according to an exemplary embodiment is schematically illustrated. Figure 7A and Figure 7B The control method can be referenced Figures 1 to 4 The vehicle system 10 described is executed.

[0112] refer to Figure 7A and Figure 7B When a parking attempt is detected while the vehicle is moving (S11), the SVM control unit 15 can generate obstacle map data for the vehicle's surrounding space based on the surrounding environment information acquired by the detection unit 12 during the parking process (S13). In operation S12, the vehicle system 10 can detect the vehicle's parking attempt based on vehicle speed, current gear position, steering wheel operation information, etc. Further, in operation S13, the vehicle system 1 can acquire information about obstacles around the vehicle through the detection unit 12 (such as radar sensors, LADAR sensors, and ultrasonic sensors) while the vehicle is moving to park, and generate obstacle map data based on the acquired information by mapping the position of each obstacle to a virtual space corresponding to the vehicle's surrounding space.

[0113] When the vehicle is parked, vehicle system 1 checks whether the side mirrors have been manually folded by the user (S14). Manual folding of the side mirrors can mean that the user manually folds the side mirrors. In this exemplary embodiment, when the side mirrors are folded manually, vehicle system 10 can determine that the driver does not want the side mirrors to be unfolded and disable the SVM remote control function (S15). When the SVM remote control function is not disabled, vehicle system 10 may not provide remote control of the SVM system, even if the user terminal 5 requests remote control of the SVM system.

[0114] When the side mirrors are not manually folded, vehicle system 1 checks whether the side mirrors are set to automatic folding (S16). When the side mirrors are set to automatic folding, and when the vehicle is parked and locked (S18), vehicle system 10 may initiate automatic folding control of the side mirrors (S19). However, when the side mirrors are not set to automatic folding, vehicle system 10 may keep the side mirrors in the unfolded state (S17).

[0115] Simultaneously, when the automatic folding control of the side mirrors is initiated (S19), the vehicle system 10 can control the side mirror drive device 14 to gradually fold each side mirror. Furthermore, while the side mirrors are folding, the vehicle system 10 can acquire side mirror periphery image data corresponding to each side mirror for each folding angle, and store the acquired side mirror periphery image data in the internal memory (S20).

[0116] Simultaneously, when at least one side mirror collides with a surrounding obstacle during the automatic folding process (S21), the vehicle system 10 can control the side mirror drive device 14 to re-fold the side mirror, thereby preventing damage to the side mirror (S22). In operation S21, the vehicle system 10 can detect whether each side mirror has collided with an obstacle by monitoring the current of the motor driving each side mirror through the side mirror drive device 14.

[0117] After the vehicle is parked, when the folding / unfolding control of the side mirrors is completed through the aforementioned operations S14 to S22, the vehicle system 10 can put the SVM system into a sleep state and standby (S23).

[0118] Then, when a remote control request for the SVM is received from the user terminal 5 (S31), the vehicle system 10 checks whether the side mirrors are currently in the deployed state (S32). If the side mirrors are currently in the deployed state, the vehicle system 10 can enter the remote control mode of the SVM system and activate the SVM remote control function (S42). When the SVM remote control function is activated, the SVM system can capture images of the vehicle's surrounding space based on the control input received from the user terminal 5, and transmit the surrounding space image data acquired by capturing the vehicle's surrounding space to the user terminal 5.

[0119] Simultaneously, when the side mirror is currently in a folded state, the vehicle system 10 can control the side mirror drive device 14 to initiate side mirror deployment control (S33). When the side mirror deployment control is initiated, the vehicle system 10 can control the side mirror to gradually unfold, and while the side mirror is unfolded, acquire side mirror periphery image data corresponding to each side mirror for each folding angle (S34). Further, the vehicle system 10 can compare the side mirror periphery image data acquired during the unfolding of each side mirror with the side mirror periphery image data acquired for the corresponding side mirror in operation S20 for each folding angle (S35). Further, through this comparison, the vehicle system 10 can detect whether there are any newly added obstacles around each side mirror (S36).

[0120] Until the side mirrors are fully deployed, and no new obstacle is detected, vehicle system 10 can enter the remote control mode of the SVM system and activate the SVM remote control function (S42). Conversely, if a new obstacle is detected during operation S36 before the side mirrors are fully deployed, vehicle system 10 can temporarily stop the deployment of the side mirrors and obtain location information about the new obstacle (S37).

[0121] In operation S37, vehicle system 10 can additionally deploy the side mirrors at a predetermined angle, detecting additional obstacles around the side mirrors to acquire their position information. Then, vehicle system 10 can additionally acquire side mirror periphery image data obtained by capturing images of the newly added obstacles using cameras coupled to the corresponding side mirrors. Therefore, for a newly added obstacle, two side mirror periphery image data captured at different folding angles can be acquired. When two side mirror periphery image data acquired by capturing images of the newly added obstacle at different folding angles are acquired through this method, vehicle system 10 can obtain position information about the newly added obstacle using a distance measurement method used in stereo vision.

[0122] When the location information of a newly added obstacle is obtained through operation S37, the vehicle system 10 can predict whether the newly added obstacle will collide with the corresponding side mirror based on the obtained location information (S38). If it is predicted that the newly added obstacle will not collide with the corresponding side mirror, the vehicle system 10 can continue to unfold, so that the side mirror is unfolded to a predetermined folding angle and the side mirror unfolding is completed (S41). Furthermore, the vehicle system 10 can enter the remote control mode of the SVM system and activate the SVM remote control function (S42).

[0123] In operation S38, when a collision between a newly added obstacle and the corresponding side mirror is predicted, the vehicle system 10 checks whether the vehicle's autonomous driving function is activated (S39). If the autonomous driving function is deactivated, the vehicle system 10 determines that the side mirror cannot be deployed and controls the side mirror drive device 14 to fold the side mirror again (S43). Furthermore, by folding the side mirror again, the vehicle system 10 determines that remote control of the SVM system is not possible and disables the SVM remote control function (S44).

[0124] In operation S39, when the autonomous driving function is activated, the vehicle system 10 can automatically move the vehicle to a position where each side mirror will not collide with an obstacle through the autonomous driving system (S40).

[0125] In operation S40, the autonomous driving system can update the obstacle map data based on the surrounding environment information of the vehicle acquired by the detection device 12 in order to move the vehicle. That is, the autonomous driving system can acquire information (position information, shape information, etc.) about newly added obstacles through the detection device 12 (e.g., radar sensors, LADAR sensors, and ultrasonic sensors), and update the previously stored obstacle map data based on the acquired information. In this case, the autonomous driving system can also move the vehicle based on the obstacle map data, which includes position information about newly added obstacles and position information about existing obstacles, so that the newly added obstacles are included in the detection range of the radar sensors, LADAR sensors, or ultrasonic sensors located on the front surface of the vehicle. As described above, when the obstacle map data is updated to include information about newly added obstacles, the autonomous driving system can obtain the position where the side mirrors will not collide with the obstacles, even if the vehicle's side mirrors are fully deployed; and obtain an autonomous driving movement path to the corresponding position based on the updated obstacle map data. Next, the autonomous driving system can move the vehicle by controlling the steering wheel angle, vehicle speed, gear position, etc., based on the generated autonomous driving path of the vehicle and the surrounding environment information of the vehicle obtained by the detection device 12.

[0126] When the vehicle is moved by the autonomous driving system to a position where the side mirrors will not collide with obstacles, the vehicle system 10 can control the side mirrors to unfold to the predetermined folding angle to complete the unfolding of the side mirrors (S41), and enter the remote control mode of the SVM system and start the SVM remote control function (S42).

[0127] at the same time, Figure 7A and Figure 7BIn the illustrated example, when the side mirror collides with an obstacle during the folding process (see operation S21), the vehicle system 10 controls the side mirror to be in the unfolded state. Later, when a remote control request for the SVM is received from the user terminal 5, the vehicle system 10 activates the SVM remote control function. However, exemplary embodiments of the present invention are not limited to this. In another exemplary embodiment, when the side mirror collides with an obstacle during the folding process, the vehicle system 10 can disable the SVM remote control function to prevent the SVM system from being remotely controlled by the user terminal 5 later.

[0128] further, Figure 7B In the illustrated example, when a collision between a newly added obstacle and the corresponding side mirror is predicted (see operation S38), the vehicle system 10 checks whether the autonomous driving function has been automatically activated and moves the vehicle. However, exemplary embodiments of the present invention are not limited to this. In another exemplary embodiment, when a collision between a newly added obstacle in the area surrounding the side mirror and the corresponding side mirror is predicted, the vehicle system 10 may notify the user terminal 5 of the collision information of the side mirror and, based on the control input received from the user terminal 5 in response to the notification, determine whether to move the vehicle by executing the autonomous driving function.

[0129] According to the aforementioned exemplary embodiment, when a user not near the vehicle wishes to remotely control the SVM system using user terminal 5, the side mirrors can be prevented from colliding with obstacles and being damaged during deployment. Furthermore, when the deployment of the side mirrors is obstructed by obstacles around the vehicle, the vehicle is automatically moved to a position where the side mirrors will not collide with the obstacles, thus preventing damage to the side mirrors and providing the information desired by the user, thereby improving user satisfaction.

[0130] The vehicle control method of the vehicle system according to the exemplary embodiment can be executed by software. When the vehicle control method of the vehicle system is executed by software, the constituent means of the present invention is a code segment that performs the required operation. The program or code segment can be stored in a processable readable medium or transmitted by computer data signals combined with a carrier wave in a transmission medium or communication network.

[0131] Computer-readable recording media include all types of recording devices that store data readable by a computer system. Examples of such computer-readable recording media include ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, and optical data storage devices. Furthermore, such computer-readable recording media can be distributed across computer devices connected via a network, allowing computer-readable code to be stored and executed in a distributed manner.

[0132] The accompanying drawings and detailed description of the invention described above are merely embodiments of the invention. These drawings and the detailed description are used to illustrate the purpose of the invention and are not intended to limit the meaning or scope of the invention as described in the appended claims. Therefore, those skilled in the art can readily select and substitute exemplary embodiments based on this specification. Furthermore, those skilled in the art can omit some components described in this specification without degrading performance or adding components to improve performance. Additionally, those skilled in the art can change the order of the method steps described in this specification depending on the process environment or equipment. Therefore, the scope of the invention should be determined by the appended claims and their equivalents, rather than by the described exemplary embodiments.

Claims

1. A vehicle system comprising: A communication device configured to communicate with a user terminal; An image capturing device, the image capturing device including a plurality of first cameras, the plurality of first cameras being respectively coupled to the side mirrors of the vehicle; as well as Control device, the control device being configured as follows: When the vehicle stops and the folding of the side mirror is initiated, first image data is acquired by the plurality of first cameras for each folding angle of the side mirror; During the vehicle's parking period, when the unfolding of the side mirror is initiated by a control input received from the user terminal, second image data captured by the plurality of first cameras for each folding angle is acquired; By comparing the first image data and the second image data, additional obstacles around the side mirror are detected; By using the second image data, location information about the added obstacle is obtained; and Based on the location information of the added obstacle, predict the probability of the added obstacle colliding with the corresponding side mirror.

2. The vehicle system according to claim 1, wherein: When no additional obstacle is detected around the side mirror, the control device activates the remote control function of the user terminal of the panoramic field of view monitor system.

3. The vehicle system according to claim 2, wherein: When the side mirror is in the manually folded state, the control device keeps the side mirror in the folded state even when it receives the control input from the user terminal, and disables the remote control function for the panoramic field of view monitor system.

4. The vehicle system according to claim 2, wherein: When a collision between an added obstacle and its corresponding side mirror is predicted, the control device works in conjunction with the autonomous driving system to move the vehicle.

5. The vehicle system according to claim 4, further comprising: A detection device configured to detect obstacles in the surrounding space of the vehicle and acquire surrounding environmental information including location information of the detected obstacles. The control device generates obstacle map data corresponding to the surrounding space of the vehicle based on the surrounding environment information acquired during the vehicle's parking period; and The autonomous driving system moves the vehicle to a position where the side mirror will not collide with the added obstacle, based on the location information of the added obstacle and the obstacle map data.

6. The vehicle system according to claim 5, wherein: When an added obstacle is detected, the control device updates the obstacle map data to include location information about the added obstacle based on surrounding environmental information acquired through the detection device; and The autonomous driving system obtains a movement path based on the updated obstacle map data, which is used to move the vehicle to a position where the side mirror will not collide with the obstacle.

7. The vehicle system according to claim 6, wherein: When the added obstacle is detected, the autonomous driving system moves the vehicle so that the added obstacle is within the detection range of the detection device, and The obstacle map is updated based on surrounding environmental information obtained while the vehicle is moving, so that the added obstacles are within the detection range of the detection device.

8. The vehicle system according to claim 5, wherein: When the vehicle is moved to a position where the side mirror will not collide with the obstacle, the control device unfolds the side mirror and activates the remote control function of the panoramic field of view monitor system.

9. The vehicle system according to claim 8, wherein: The image capturing device further includes at least one second camera, which is located at the front or rear of the vehicle; and When the remote control function of the panoramic view monitor system is activated, the control device transmits the surrounding image data obtained by using the image capturing device to capture the surrounding space of the vehicle to the user terminal based on the control input received from the user terminal.

10. The vehicle system according to claim 1, wherein: The control device detects the added obstacle by comparing the first image data and the second image data corresponding to the same folding angle.

11. The vehicle system according to claim 10, wherein: When an added obstacle is detected, the control device acquires third image data captured by the corresponding first camera with the corresponding side mirror additionally deployed at a predetermined angle, and obtains position information about the added obstacle by using the second image data and the third image data including the added obstacle.

12. The vehicle system according to claim 2, wherein: During the folding process of the side mirrors, when at least one side mirror collides with the obstacle, the control device controls the side mirrors to be in the unfolded state.

13. The vehicle system according to claim 12, wherein: When the side mirror is in the deployed state, and a remote control request for the panoramic field of view monitor system is received from the user terminal, the control device activates the remote control function for the panoramic field of view monitor system.

14. The vehicle system according to claim 1, wherein: When the vehicle is completely stopped and the doors of the vehicle are locked, the control device controls the side mirrors to be in a folded state.

15. A method for controlling a vehicle, the vehicle including a plurality of cameras respectively coupled to side mirrors, the method comprising: When the vehicle stops and the folding of the side mirror is initiated, first image data is acquired by multiple first cameras for each folding angle of the side mirror; During the vehicle's parking period, when the unfolding of the side mirror is initiated by a control input received from a user terminal, second image data captured by the plurality of first cameras for each folding angle is acquired; By comparing the first image data and the second image data, additional obstacles around the side mirror are detected; When the added obstacle is detected, the location information of the added obstacle is obtained by using the second image data; as well as Based on the location information of the added obstacle, predict the probability of the added obstacle colliding with the corresponding side mirror.

16. The method of claim 15, further comprising: When the added obstacle around the side mirror is not detected, the remote control function of the user terminal of the panoramic field of view monitor system is activated. as well as Upon activation of the remote control function, image data acquired by capturing images of the vehicle's surrounding space is provided to the user terminal.

17. The method of claim 16, further comprising: When the side mirror is in the manually folded state, keep the side mirror in the folded state; as well as Disable the remote control function for the panoramic field of view monitor system.

18. The method of claim 16, further comprising: When a collision between an added obstacle and its corresponding side mirror is predicted, the vehicle is moved in cooperation with the autonomous driving system.

19. The method of claim 18, further comprising: During the vehicle's parking period, the surrounding environment information is acquired through a detection device, which detects obstacles located in the space surrounding the vehicle. as well as Based on the surrounding environment information, obstacle map data corresponding to the space around the vehicle is generated. Moving the vehicle includes: Based on the location information of the added obstacles and the obstacle map data, the autonomous driving system moves the vehicle to a position where the side mirror will not collide with the obstacles.

20. The method of claim 19, wherein: Moving the vehicle to a position where the side mirror will not collide with the obstacle includes: When an added obstacle is detected, the obstacle map data is updated to include location information about the added obstacle based on surrounding environmental information acquired through the detection device; and A movement path is obtained based on the updated obstacle map data, which is used to move the vehicle to a position where the side mirror will not collide with the obstacle.

21. The method of claim 20, wherein: Updating the obstacle map data includes: When the added obstacle is detected, the autonomous driving system moves the vehicle so that the added obstacle is within the detection range of the detection device; and The obstacle map data is updated based on the surrounding environment information obtained when the vehicle is moving, so that the added obstacles are within the detection range of the detection device.

22. The method of claim 19, further comprising: When the vehicle is moved to a position where the side mirror does not collide with the obstacle, the side mirror is fully deployed. Activate the remote control function of the panoramic field of view monitor system; and The surrounding image data obtained by photographing the space around the vehicle is transmitted to the user terminal.

23. The method according to claim 15, wherein: Detecting additional obstacles around the side mirror includes: The added obstacle is detected by comparing the first image data and the second image data corresponding to the same folding angle.

24. The method according to claim 23, wherein: Obtaining location information about the added obstacles includes: When the added obstacle is detected, with the corresponding side mirror additionally extended at a predetermined angle, third image data captured by the corresponding first camera is acquired; and Location information about the added obstacles is obtained by using the second image data and the third image data, which includes the added obstacles.

25. The method of claim 16, further comprising: During the folding process of the side mirror, when at least one side mirror collides with the obstacle, the side mirror is controlled to be in the unfolded state.

26. The method of claim 25, further comprising: When the side mirror is in the deployed state, and a remote control request for the panoramic field of view monitoring system is received from the user terminal, the remote control function for the panoramic field of view monitoring system is activated.

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