A rearview mirror control method, system and vehicle fusing lane information

Abstract

The application relates to a rearview mirror control method and system fusing lane information and a vehicle, which comprises the following steps: acquiring the distance between the vehicle and a front lane intersection; when the distance is less than or equal to a preset distance, acquiring the safety view distance of the rearview mirror covering the outside lane of the adjacent intersection lane, acquiring the angle theta between the lane line of the current lane of the vehicle close to the intersection lane direction and the inside lane line of the intersection lane, acquiring the distance from a point B on the rearview mirror perpendicular to the current lane line of the vehicle to the intersection of the most outside lane line of the intersection lane, acquiring the distance from the point B to a point G according to the cosine theorem, acquiring the angle of the distance and the point G based on the distance and the angle, obtaining the angle to be moved outward of the rearview mirror based on the angle of the distance and the most outside angle of the driver's view corresponding to the current angle of the rearview mirror, and controlling the rearview mirror to move outward by the corresponding angle. The application can help the driver to eliminate or reduce the rear view blind area of the intersection lane.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a rearview mirror control method, system, and vehicle that integrates lane information. Background Technology

[0002] Rearview mirrors have blind spots, especially on curves, where they can prevent drivers from seeing vehicles behind, posing a safety risk. Traditional rearview mirror tracking methods, such as CN102490659A, typically detect turn signals from the vehicle's turn signals, steering wheel angle, tire steering, or sensors, and adjust the mirror angle accordingly to reduce the probability of blind spots and accidents caused by blind spots and parallax. However, relying on turn signals is inherently a delayed control mechanism, often requiring drivers to check the rear traffic conditions before turning. In lane-merging scenarios, adjacent lanes are not parallel to the current lane, increasing the likelihood of rear blind spots. Furthermore, drivers in the straight lane may not necessarily turn during lane merges, making rearview mirror tracking based on turn information insufficient. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and propose a rearview mirror control method, system and vehicle that can switch power gears in advance according to predicted terrain and integrate lane information. It uses high-precision positioning and high-precision maps with lane information to dynamically adjust the angle of the car's rearview mirrors according to the vehicle's current lane and adjacent intersecting lane information, thereby reducing blind spots.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] On the one hand, a rearview mirror control method that integrates lane information includes:

[0006] Get the distance between the vehicle and the intersection of the lane ahead;

[0007] When the distance is less than or equal to a preset distance, obtain the safe field of view distance at which the rearview mirror covers the outer lane of the adjacent intersecting lane. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ.

[0008] Based on distance and Get and The included angle ∠FBG;

[0009] Summing the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror with the included angle ∠FBG, and subtracting the sum from 90, we obtain the angle at which the rearview mirror is to be moved outward.

[0010] Control the rearview mirror to move outward by the corresponding angle.

[0011] Preferably, the preset distance is greater than or equal to the current vehicle speed.

[0012] Preferably, the rearview mirror covers the safe field of vision distance of the outer lane of the adjacent merging lane. Methods for obtaining [the information] include:

[0013] Calculate the field of view H of the outer lane of the adjacent parallel lane covered by the rearview mirror when it is at the current angle;

[0014] Assign the field of view distance H to

[0015] Preferably, the method for calculating the field of view distance H is as follows:

[0016]

[0017] Where α represents the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror; E0 represents the distance between the vehicle and the lane line of the lane closest to the merging lane; and D1 represents the width of the adjacent merging lane.

[0018] Preferred distance The calculation method is as follows:

[0019]

[0020] E0 represents the distance between the vehicle and the lane line of the lane closest to the merging lane; D1 represents the distance from lane intersection point O to intersection point M; D1 represents the width of adjacent lanes.

[0021] Preferred distance The calculation method is as follows:

[0022]

[0023] The preferred method for calculating the included angle ∠FBG is as follows:

[0024]

[0025] The preferred method for calculating the angle at which the rearview mirror is to move outward is as follows:

[0026] β=90-∠FBG-α

[0027] Where β represents the angle at which the rearview mirror is to be moved outward.

[0028] On the other hand, a rearview mirror control system that integrates lane information includes:

[0029] The intersection distance acquisition module is used to obtain the distance between the vehicle and the intersection point of the lane ahead;

[0030] The rearview mirror movement angle acquisition module is used to acquire the safe field of view distance of the rearview mirror covering the outer lane of the adjacent intersecting lane when the distance is less than or equal to a preset distance. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ. Based on distance and Get and The included angle ∠FBG; sum the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror with the included angle ∠FBG, and subtract the sum from 90 to obtain the angle at which the rearview mirror is to be moved outward;

[0031] The angle adjustment module is used to control the rearview mirror to move outward by a corresponding angle.

[0032] In another aspect, a vehicle includes a controller for implementing the rearview mirror control method that integrates lane information.

[0033] According to embodiments of the present invention, the present invention has the following beneficial effects:

[0034] This invention utilizes high-precision positioning and lane information (including the vehicle's current lane and adjacent intersecting lane information) in high-precision maps to automatically calculate the impact of the lane intersection angle on the field of vision before the lanes intersect. It automatically adjusts the angle of the rearview mirror so that the width and length of the rear field of vision of the adjacent intersecting lanes are comparable to those of the parallel adjacent lanes. This helps drivers eliminate or reduce blind spots in the rear field of vision of the intersecting lanes.

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments, but the rearview mirror control method, system and vehicle of the present invention that integrates lane information are not limited to the embodiments. Attached Figure Description

[0036] Figure 1This is a flowchart of a rearview mirror control method that integrates lane information according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram illustrating the field of view that the rearview mirror can cover when the two lanes are parallel, according to an embodiment of the present invention.

[0038] Figure 3 This is a schematic diagram illustrating the field of view that can be covered by the rearview mirror when two lanes intersect, according to an embodiment of the present invention.

[0039] Figure 4 This is a structural block diagram of the rearview mirror control system that integrates lane information according to an embodiment of the present invention. Detailed Implementation

[0040] The objects and functions of the present invention, as well as the methods for achieving these objects and functions, will be clarified by referring to exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in various forms. The purpose of this specification is merely to help those skilled in the art to comprehensively understand the specific details of the invention.

[0041] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0042] It should be noted that the step labels in the specific implementation are only for making the document look clearer. In actual implementation, the order of the steps can be adjusted according to specific needs.

[0043] See Figure 1 As shown, the present invention provides a rearview mirror control method that integrates lane information, comprising:

[0044] S101, obtain the distance between the vehicle and the intersection point of the lane ahead;

[0045] S102, when the distance is less than or equal to a preset distance, obtain the safe field of view distance of the rearview mirror covering the outer lane of the adjacent intersecting lane. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ.

[0046] S103, based on distance and Get and The included angle ∠FBG;

[0047] S104, sum the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror and the included angle ∠FBG, and subtract the sum from 90 to obtain the angle at which the rearview mirror is to be moved outward;

[0048] S105 controls the rearview mirror to move outward by the corresponding angle.

[0049] In this embodiment, high-precision positioning and a high-precision map with lane information are used to dynamically control and adjust the angle of the car's rearview mirrors based on the vehicle's current lane and adjacent intersecting lane information, thereby reducing blind spots. High-precision positioning and high-precision maps with lane information are existing technologies, and related details are not specifically described in this embodiment.

[0050] Specifically, in S101 above, the vehicle's current lane L0 information is obtained through high-precision positioning and high-precision map. It is determined whether there is a lane intersection within the distance to the point O ahead that is less than or equal to D meters (D is a preset distance). If so, proceed to S102; otherwise, the rearview mirror does not move.

[0051] It should be noted that the distance D must ensure that the driver has at least 1 second to observe the traffic conditions behind the merging lane before entering the intersection. Therefore, the distance D can be calculated by multiplying the current vehicle speed V by 1 second, that is, the distance D is greater than or equal to the current vehicle speed value V.

[0052] See Figure 2 and Figure 3 As shown, in S102, the following information is obtained through a high-precision map: the width D1 of the adjacent merging lane L1; and the distance E0 between the vehicle in the current lane L0 and the lane line of the lane closest to the merging lane. Based on the angle of the vehicle's rearview mirror, the outermost angle α of the driver's field of vision can be obtained. (See also...) Figure 2 As shown, the calculation assumes that L1 and L0 are parallel, and the current rearview mirror can cover the field of vision H of the outermost lane of L1, as follows:

[0053]

[0054] Referring to the situation where L1 and L0 are parallel, for actual intersections, drivers must also be able to clearly see the distance H behind the outer lane line of L1 when observing the rear view. Only then is the rear view equivalent to that when the lanes are parallel, ensuring safety. See also Figure 3 As shown, the field of view distance H is used as the safe field of view distance for the rearview mirror to cover the outer lane of the adjacent intersecting lane.

[0055] Therefore, based on high-precision map data, the angle β that the rearview mirror needs to turn is calculated when the current intersection lane angle is θ.

[0056] Take point B on the vehicle's rearview mirror, and extend the lane line perpendicular to the current lane L0 to the intersection point F of the outermost lane line of the merging lane L1. M is the intersection point of the perpendicular line with the lane line of lane L0, and N is the intersection point of the lane line on the opposite side of lane L0 that intersects with lane L1. O is the lane intersection point in the high-precision map, and θ is the angle between the intersecting lanes in the high-precision map data, which can be obtained from the map data and the current vehicle position. Length. Therefore, the length of MN is:

[0057]

[0058] The length of NF is:

[0059]

[0060] Therefore, the length of BF is:

[0061]

[0062] To make the distance between FG and H reach H, the rear view must be at least able to see point G, which is equivalent to the rear view of the adjacent lane that can be observed when driving in a parallel lane. Therefore, the rearview mirror angle needs to be moved outward by β.

[0063] According to the Law of Cosines, we can obtain:

[0064]

[0065] Furthermore, based on distance and Get and The included angle ∠FBG is as follows:

[0066]

[0067] Furthermore, the angle at which the rearview mirror moves outward is controlled is as follows:

[0068] β=90-∠FBG-α

[0069] By controlling the rearview mirror to move outward by a corresponding angle β, the field of vision of the intersecting lane can be made equivalent to that of the parallel lane.

[0070] Furthermore, as the vehicle moves forward, it continuously returns to S102, that is, it continuously calculates the angle β to be adjusted based on the changes in the vehicle's position, and controls the rearview mirror on that side to adjust the calculated angle until the vehicle passes the lane intersection point O, that is, the lane change is completed, and the rearview mirror angle returns to the original value (the angle before the rearview mirror angle was adjusted).

[0071] See Figure 4As shown, on the other hand, a rearview mirror control system that integrates lane information includes:

[0072] Distance acquisition module 401 is used to acquire the distance between the vehicle and the intersection point of the lane ahead;

[0073] The rearview mirror movement angle acquisition module 402 is used to acquire the safe field of view distance of the rearview mirror covering the outer lane of the adjacent intersecting lane when the distance is less than or equal to a preset distance. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ. Based on distance and Get and The included angle ∠FBG; sum the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror with the included angle ∠FBG, and subtract the sum from 90 to obtain the angle at which the rearview mirror is to be moved outward;

[0074] Angle adjustment module 403 is used to control the rearview mirror to move outward by a corresponding angle.

[0075] The specific implementation of a rearview mirror control system that integrates lane information is the same as the rearview mirror control method that integrates lane information, and will not be described again in this embodiment.

[0076] Furthermore, the present invention provides a vehicle including a controller, the controller being used to implement the rearview mirror control method that integrates lane information.

[0077] The specific embodiments described above further illustrate the purpose, technical solution, and effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and do not limit the present invention. Modifications, substitutions, and variations made by those skilled in the art under the guidance of the present invention without departing from the spirit and scope of the claims are all within the protection scope of the present invention.

Claims

1. A rearview mirror control method integrating lane information, characterized in that, include: Get the distance between the vehicle and the intersection of the lane ahead; When the distance is less than or equal to a preset distance, obtain the safe field of view distance at which the rearview mirror covers the outer lane of the adjacent intersecting lane. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ. Based on distance and Get and The included angle ∠FBG; Summing the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror with the included angle ∠FBG, and subtracting the sum from 90, we obtain the angle at which the rearview mirror is to be moved outward. Control the rearview mirror to move outward by the corresponding angle.

2. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, The preset distance is greater than or equal to the current vehicle speed.

3. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, The rearview mirror covers a safe field of vision distance to the outer lane of adjacent intersecting lanes. Methods for obtaining [the information] include: Calculate the field of view H of the outer lane of the adjacent parallel lane covered by the rearview mirror when it is at the current angle; Assign the field of view distance H to 4. The rearview mirror control method for integrating lane information according to claim 3, characterized in that, The method for calculating the field of view distance H is as follows: Where α represents the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror; E0 represents the distance between the vehicle and the lane line of the lane closest to the merging lane; and D1 represents the width of the adjacent merging lane.

5. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, distance The calculation method is as follows: E0 represents the distance between the vehicle and the lane line of the lane closest to the merging lane; D1 represents the distance from lane intersection point O to intersection point M; D1 represents the width of adjacent lanes.

6. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, distance The calculation method is as follows:

7. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, The calculation method for the included angle ∠FBG is as follows:

8. The rearview mirror control method for integrating lane information according to claim 1, characterized in that, The calculation method for the angle at which the rearview mirror needs to be moved outward is as follows: β=90-∠FBG-α Where β represents the angle at which the rearview mirror is to be moved outward.

9. A rearview mirror control system that integrates lane information, characterized in that, include: The intersection distance acquisition module is used to obtain the distance between the vehicle and the intersection point of the lane ahead; The rearview mirror movement angle acquisition module is used to acquire the safe field of view distance of the rearview mirror covering the outer lane of the adjacent intersecting lane when the distance is less than or equal to a preset distance. Obtain the angle θ between the lane line of the vehicle's current lane and the inner lane line of the merging lane in the direction the vehicle is approaching the merging lane; obtain the distance from point B on the rearview mirror, which is perpendicular to the vehicle's current lane line, to the intersection point F of the outermost lane line of the merging lane. According to the law of cosines, based on distance... distance The distance from point B to point G is obtained by using the included angle θ. Based on distance and Get and The included angle ∠FBG; sum the outermost angle of the driver's field of vision corresponding to the current angle of the rearview mirror with the included angle ∠FBG, and subtract the sum from 90 to obtain the angle at which the rearview mirror is to be moved outward; The angle adjustment module is used to control the rearview mirror to move outward by a corresponding angle.

10. A vehicle, characterized in that, The system includes a controller for implementing the rearview mirror control method for integrating lane information as described in any one of claims 1 to 8.

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