Method and device for automatically adjusting rearview mirror and automatic driving vehicle

Abstract

The present disclosure provides a method, device, electronic device, rearview mirror system, computer-readable storage medium and computer program product for automatically adjusting rearview mirrors, and relates to the field of intelligent transportation technology, and in particular to the field of automatic driving technology. The method includes: obtaining the driving state and positioning information of the vehicle, the driving state including the left turn indication state, the right turn indication state or the no turn indication state; determining the driving intention of the vehicle based on the driving state and positioning information; in response to determining that the driving intention is to enter the target road via the ramp, determining the target rearview mirror that needs to be adjusted and the triggering conditions for starting the adjustment of the target rearview mirror; and in response to determining that the vehicle driving meets the triggering conditions, controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror so that the extension direction of the target rearview mirror and the target road is at a target angle. The disclosed solution can realize the automatic adjustment of the rearview mirror on the ramp, and improve the safety of human-machine co-driving.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent transportation technology, in particular to the field of autonomous driving technology, and specifically to a method, device, electronic device, rearview mirror system, autonomous driving vehicle, computer-readable storage medium, and computer program product for automatically adjusting a rearview mirror. Background Art

[0002] In the field of autonomous driving technology, driving automation is divided into levels from L0 to L5, among which L0 to L2 belong to assisted driving, and L3 to L5 belong to autonomous driving. The higher the level, the less human participation is required.

[0003] Although autonomous driving technology is gradually becoming mature, most autonomous vehicles still require a driver to accompany the vehicle and keep their attention and observe the surrounding road conditions at all times, that is, they need human-machine co-driving. How to enable the driver of an autonomous vehicle to understand the road conditions more clearly through the rearview mirror, thereby improving the safety of human-machine co-driving, is a technical problem that technicians in this field need to solve urgently.

[0004] The technical means described in this section are not necessarily technical means that have been previously conceived or adopted. Unless otherwise specified, it should not be assumed that any technical means described in this section are considered to be prior art simply because they are included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0005] The present disclosure provides a method, an apparatus, an electronic device, a rearview mirror system, a computer-readable storage medium, and a computer program product for automatically adjusting a rearview mirror.

[0006] According to one aspect of the present disclosure, there is provided a method for automatically adjusting a rearview mirror, comprising:

[0007] Acquire the driving status of the vehicle and the positioning information of the vehicle on the electronic map, wherein the driving status includes a left turn indication status, a right turn indication status or a no turn indication status;

[0008] Determining a driving intention of the vehicle based on the driving state and the positioning information, wherein the driving intention includes continuing to drive on the current road or driving from the current road to a target road via a ramp;

[0009] In response to determining that the driving intention is to drive from the current road via a ramp to a target road, determining a target rearview mirror that needs to be adjusted from the left rearview mirror and the right rearview mirror, and determining a trigger condition for starting adjustment of the target rearview mirror; and

[0010] In response to determining that the vehicle driving satisfies the trigger condition, the rearview mirror adjustment mechanism of the vehicle is controlled to adjust the left and right fields of view of the target rearview mirror so that the target rearview mirror and the extension direction of the target road are at a target angle.

[0011] According to one aspect of the present disclosure, there is provided a device for automatically adjusting a rearview mirror, comprising:

[0012] an acquisition unit configured to acquire a driving state of the vehicle and positioning information of the vehicle on an electronic map, wherein the driving state includes a left turn indication state, a right turn indication state or a no turn indication state;

[0013] A first determination unit is configured to determine a driving intention of the vehicle based on the driving state and the positioning information, wherein the driving intention includes continuing to drive on the current road or driving from the current road to a target road via a ramp;

[0014] A second determining unit is configured to, in response to determining that the driving intention is to drive from the current road via the ramp to the target road, determine a target rearview mirror that needs to be adjusted from the left rearview mirror and the right rearview mirror, and determine a trigger condition for starting the adjustment of the target rearview mirror; and

[0015] The control unit is configured to control the vehicle's rearview mirror adjustment mechanism to adjust the left and right fields of view of the target rearview mirror in response to determining that the vehicle's driving meets the trigger condition, so that the target rearview mirror and the extension direction of the target road are at a target angle.

[0016] According to one aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the aforementioned aspects.

[0017] According to one aspect of the present disclosure, a system for automatically adjusting a rearview mirror is provided, comprising: a left rearview mirror and a right rearview mirror; the electronic device of the aforementioned aspect; a rearview mirror adjustment mechanism, configured to adjust the left and right fields of view of each of the left rearview mirror and the right rearview mirror; and an angle detection device, configured to capture the angle between each of the left rearview mirror and the right rearview mirror and the body of the vehicle.

[0018] According to one aspect of the present disclosure, an autonomous driving vehicle is provided, comprising the rearview mirror system of the aforementioned aspect.

[0019] According to one aspect of the present disclosure, a computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are configured to enable a computer to execute the method described in the aforementioned aspect.

[0020] According to an aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method described in the above aspect when executed by a processor.

[0021] According to one or more embodiments of the present disclosure, the rearview mirror of an autonomous driving vehicle can be automatically adjusted to a suitable posture when the vehicle enters a target road via a ramp from a current road, thereby providing the driver with a more convenient field of view and improving the safety of human-machine co-driving.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0024] Figure 1 A schematic diagram showing an exemplary system in which various methods described herein may be implemented according to some embodiments of the present disclosure;

[0025] Figure 2 A flow chart showing a method for automatically adjusting a rearview mirror according to some embodiments of the present disclosure is shown;

[0026] Figure 3A A schematic diagram of a driving scenario of an autonomous driving vehicle according to some embodiments of the present disclosure is shown;

[0027] Figure 3B A schematic diagram of a driving scenario of an autonomous driving vehicle according to some embodiments of the present disclosure is shown;

[0028] Figure 4A A schematic diagram of a driving scenario of an autonomous driving vehicle according to some embodiments of the present disclosure is shown;

[0029] Figure 4B A schematic diagram of a driving scenario of an autonomous driving vehicle according to some embodiments of the present disclosure is shown;

[0030] Figure 5 A flow chart showing a method for automatically adjusting a rearview mirror according to some embodiments of the present disclosure is shown;

[0031] Figure 6A structural block diagram of a device for automatically adjusting a rearview mirror according to some embodiments of the present disclosure is shown;

[0032] Figure 7 shows a structural block diagram of a rearview mirror system according to some embodiments of the present disclosure; and

[0033] Figure 8 A structural block diagram of an exemplary electronic device that can be used to implement the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0034] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0035] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0036] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0037] At present, most autonomous vehicles still require a driver to accompany the vehicle and keep their attention and observe the surrounding road conditions at all times, that is, they need human-machine co-driving. In related technologies, the rearview mirror of an autonomous vehicle generally maintains a fixed posture while the vehicle is driving, such as maintaining a 90° angle with the vehicle body. When the vehicle enters the target road from the current road through the ramp, such as merging from the auxiliary road to the main road or exiting the main road to the auxiliary road, due to the limited field of view provided by the rearview mirror in a fixed posture, in order to better understand the road conditions of the target road, the driver usually repeatedly adjusts his sitting posture to observe the rearview mirror, which not only easily leads to driver fatigue, but also poses certain safety hazards.

[0038] Based on this, the embodiments of the present disclosure provide a method, device, electronic device, rearview mirror system, computer-readable storage medium and computer program product for automatically adjusting the rearview mirror, so that the rearview mirror of an autonomous driving vehicle can automatically adjust to a suitable posture when the vehicle enters a target road via a ramp from a current road, thereby providing the driver with a more convenient field of view and improving the safety of human-machine co-driving.

[0039] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0040] Figure 1 FIG. 1 is a schematic diagram of an exemplary system 100 in which various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Figure 1 , the system 100 includes a motor vehicle 110 , a server 120 , and one or more communication networks 130 coupling the motor vehicle 110 to the server 120 .

[0041] In an embodiment of the present disclosure, the motor vehicle 110 may include a computing device according to an embodiment of the present disclosure and / or be configured to perform a method according to an embodiment of the present disclosure.

[0042] The server 120 may run one or more services or software applications that enable the communication control method of the vehicle disclosed herein to be implemented. In some embodiments, the server 120 may also provide other services or software applications, which may include non-virtual environments and virtual environments. Figure 1 In the configuration shown, the server 120 may include one or more components that implement the functions performed by the server 120. These components may include software components, hardware components, or a combination thereof that can be executed by one or more processors. A user of the motor vehicle 110 may in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from the system 100. Therefore, Figure 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0043] Server 120 may include one or more general purpose computers, dedicated server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and / or combination. Server 120 may include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain a server's virtual storage device). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

[0044] The computing units in the server 120 may run one or more operating systems including any of the above operating systems and any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and / or middle-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0045] In some embodiments, server 120 may include one or more applications to analyze and consolidate data feeds and / or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and / or real-time events via one or more display devices of motor vehicle 110.

[0046] The network 130 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP / IP, SNA, IPX, etc. By way of example only, one or more networks 130 may be a satellite communications network, a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a blockchain network, a public switched telephone network (PSTN), an infrared network, a wireless network (including, for example, Bluetooth, WiFi), and / or any combination of these and other networks.

[0047] The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 150 may be used to store information such as audio files and video files. The data repository 150 may reside in various locations. For example, the data repository used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data repository 150 may be of different types. In some embodiments, the data repository used by the server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data from the database in response to a command.

[0048] In some embodiments, one or more of the databases 150 may also be used by an application to store application data. The databases used by the application may be different types of databases, such as a key-value store, an object store, or a conventional store backed by a file system.

[0049] The motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensor 111 may include one or more of the following sensors: a visual camera, an infrared camera, an ultrasonic sensor, a millimeter wave radar, and a laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be installed at the front, rear, or other position of the vehicle. The visual camera may capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. In addition, by analyzing the images captured by the visual camera, information such as traffic light indications, intersection conditions, and the operating status of other vehicles may be obtained. The infrared camera may capture objects under night vision conditions. Ultrasonic sensors may be installed around the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of strong ultrasonic directionality. The millimeter wave radar may be installed at the front, rear, or other position of the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of electromagnetic waves. The laser radar may be installed at the front, rear, or other position of the vehicle to detect the edge and shape information of the object, thereby identifying and tracking the object. Due to the Doppler effect, the radar device may also measure the speed change of the vehicle and the moving object.

[0050] The motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., Beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with a mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE, and other current or evolving wireless communication technologies (e.g., 5G technology). The communication device 112 may also have a vehicle-to-vehicle or vehicle-to-everything (V2X) module, which is configured to implement, for example, vehicle-to-vehicle (V2V) communication with other vehicles 143 and vehicle-to-infrastructure (V2I) communication with infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smartphone, a tablet computer, or a wearable device such as a watch) by, for example, using a wireless LAN or Bluetooth of the IEEE802.11 standard. Using the communication device 112, the motor vehicle 110 may also access the server 120 via the network 130.

[0051] The motor vehicle 110 may also include a control device 113. The control device 113 may include a processor that communicates with various types of computer-readable storage devices or media, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other dedicated processors. The control device 113 may include an automatic driving system for automatically controlling various actuators in the vehicle. The automatic driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 110 (not shown) via multiple actuators in response to inputs from multiple sensors 111 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Some processing functions of the control device 113 can be implemented through cloud computing. For example, some processing can be performed using an on-board processor, while other processing can be performed using computing resources in the cloud. The control device 113 can be configured to perform a method according to the present disclosure. In addition, the control device 113 can be implemented as an example of a computing device on the motor vehicle side (client) according to the present disclosure.

[0052] Figure 1 The system 100 may be configured and operated in various ways to enable the application of various methods and apparatuses described in the present disclosure.

[0053] Some embodiments of the present disclosure provide a method for automatically adjusting a rearview mirror, which is applied to an autonomous driving vehicle. The specific type of the autonomous driving vehicle is not limited, for example, it can be an autonomous driving bus, an autonomous driving taxi, an autonomous driving commercial vehicle, or an autonomous driving sightseeing vehicle, etc. The autonomous driving vehicle can be a vehicle that requires short-term or long-term human-machine co-driving in various levels of driving automation.

[0054] Generally, the rearview mirror of a vehicle can adjust the vertical field of view and the left and right field of view. In the disclosed embodiment, when the vehicle enters the target road from the current road through the ramp, the left and right fields of view of the rearview mirror on the side close to the target road are appropriately adjusted, which is more conducive to the driver to understand the road conditions of the target road. Therefore, in the disclosed embodiment, the rearview mirror adjustment mainly refers to the adjustment of the left and right fields of view of the rearview mirror.

[0055] like Figure 2 As shown, the method 200 for automatically adjusting a rearview mirror provided in some embodiments of the present disclosure includes the following steps S201 to S204.

[0056] In step S201, the driving state of the vehicle and the positioning information of the vehicle on the electronic map are obtained, where the driving state includes a left turn indication state, a right turn indication state or a no turn indication state.

[0057] In step S202, based on the driving state and positioning information, the driving intention of the vehicle is determined, and the driving intention includes continuing to drive on the current road or driving from the current road to the target road via a ramp.

[0058] In step S203, in response to determining that the driving intention is to enter the target road via the ramp from the current road, a target rearview mirror that needs to be adjusted is determined from the left and right rearview mirrors, and a trigger condition for starting the adjustment of the target rearview mirror is determined.

[0059] In step S204, in response to determining that the vehicle driving satisfies the trigger condition, the rearview mirror adjustment mechanism of the vehicle is controlled to adjust the left and right fields of view of the target rearview mirror so that the target rearview mirror and the extension direction of the target road are at a target angle.

[0060] By adopting the technical solution of the disclosed embodiment, when the vehicle enters the target road from the current road via the ramp, for example, when merging from the auxiliary road into the main road or exiting the main road into the auxiliary road, the corresponding side rearview mirror (i.e., the target rearview mirror) that the driver mainly uses to observe the road conditions of the target road will automatically adjust to a posture that forms a target angle with the extension direction of the target road. This posture is suitable for providing the driver with a field of view that is more convenient for observation. The driver can observe the road conditions of the target road without adjusting his sitting position, thereby improving the safety of human-machine co-driving and helping to alleviate the driver's fatigue burden.

[0061] In addition, the technical solution of this embodiment requires fewer changes to the vehicle's hardware and is less dependent on the steering wheel and various vehicle sensors, which is beneficial to improving the accuracy of rearview mirror adjustment and reducing cost investment.

[0062] Reference Figure 3A As shown, in the embodiment of the present disclosure, the angle γ between the target rearview mirror 40 and the extension direction of the target road 30 can be defined as follows: a first line segment parallel to the mirror surface and extending toward the vehicle body is made through the outer edge point O of the positive projection of the target rearview mirror 40 on the road surface, and a second line segment parallel to the extension direction of the target road and extending toward the rear of the vehicle is made through the above-mentioned outer edge point. The angle between the first line segment and the second line segment is the angle γ between the target rearview mirror 40 and the extension direction of the target road 30.

[0063] When the target rearview mirror 40 and the extension direction of the target road 30 form a target angle γ0, it is convenient for the driver to clearly observe the road conditions of the target road 30. The "target angle γ0" can be specifically set in combination with the driver's sitting position (such as the main driving seat or the co-pilot seat of the autonomous driving vehicle) and personal driving habits. For example, in some embodiments, the target angle γ0 is within a range of not less than 80° and not more than 100°. For example, γ0 can be 80°, 85°, 90°, 95°, or 100°, etc. When the driver is sitting in the main driving seat, the value of the target angle γ0 can be relatively large, and when the driver is sitting in the co-pilot seat, the value of the target angle γ0 can be relatively small.

[0064] In the embodiment of the present disclosure, the target rearview mirror 40 and the extension direction of the target road 30 form a target angle γ0, which can be understood as forming the target angle γ0 within a certain error range without the need for absolutely precise forming the target angle γ0. For example, if the target angle γ0 is 90°, then the angle between the target rearview mirror 40 and the extension direction of the target road 30 is within an error range of 90°±3°, which can be considered to be the target angle γ0.

[0065] In the disclosed embodiment, the driving state of the vehicle includes a left turn indication state, a right turn indication state, or a no turn indication state. In some embodiments, this information can be obtained from the vehicle's turn signal system. For example, when the left turn signal of the vehicle is on, the turn signal system sends information that the driving state is a left turn indication state to the electronic device executing the above method; when the right turn signal of the vehicle is on, the turn signal system sends information that the driving state is a right turn indication state to the electronic device executing the above method; when both the left turn signal and the right turn signal of the vehicle are not on, the electronic device executing the above method defaults to the driving state as a no turn indication state.

[0066] In other embodiments of the present disclosure, the driving state of the above-mentioned vehicle can also be obtained from the autonomous driving controller (ADC) of the vehicle, and the autonomous driving controller sends the driving state to the electronic device executing the above-mentioned method at a specific time based on the positioning information and the driving planning path. For example, when the autonomous driving controller determines that a left turn is required ahead based on the positioning information and the driving planning path, it will send information that the driving state is a left turn indication state to the electronic device executing the above-mentioned method a certain time in advance (for example, 5 seconds in advance).

[0067] In the disclosed embodiments, the electronic map may be a high-precision map. Compared with ordinary maps, high-precision maps are mainly used for autonomous driving and can provide map information with higher accuracy and richer content. High-precision maps can accurately describe the shape of the road, the characteristics of each lane, lane line, and isolation zone, and even the arrows, text content, and location on the road.

[0068] In some embodiments of the present disclosure, the aforementioned step S202 includes:

[0069] In response to determining that the vehicle is in the leftmost lane among the multiple lanes included in the current road and the driving state is a left turn indication state, determining that the driving intention of the vehicle is to drive left from the current road through the ramp into the target road;

[0070] In response to determining that the vehicle is in the rightmost lane of a plurality of lanes included in the current road and the driving state is a right turn indication state, determining that the driving intention of the vehicle is to drive rightward from the current road through a ramp into a target road; and

[0071] In response to determining that the vehicle is in a middle lane among a plurality of lanes included in a current road and the driving state is a no-turn indication state, it is determined that the driving intention of the vehicle is to continue driving on the current road.

[0072] In some traffic scenarios, although the vehicle is in the leftmost lane or the rightmost lane, the vehicle has no intention to drive to the ramp (the lane is required to allow straight driving ahead), and the vehicle's turn signal will not be turned on at this time. Therefore, the judgment condition of the driving intention of "driving from the current road to the target road via the ramp" is not met. In some traffic scenarios, although the vehicle is in the middle lane and the turn signal is turned on to change lanes to the corresponding side, since the vehicle is not in the leftmost lane or the rightmost lane, the judgment condition of the driving intention of "driving from the current road to the target road via the ramp" is also not met. This embodiment can make the judgment of the vehicle's driving intention more accurate.

[0073] In some embodiments, in step S203, determining a target rearview mirror that needs to be adjusted from the left rearview mirror and the right rearview mirror includes:

[0074] In response to determining that the driving intention of the vehicle is to drive from the current road to the left via the ramp onto the target road, determining the left rearview mirror as the target rearview mirror; and

[0075] In response to determining that the driving intention of the vehicle is to drive from the current road to the right via the ramp into the target road, the right rearview mirror is determined to be the target rearview mirror.

[0076] like Figure 3A and Figure 3B As shown, when the vehicle's driving intention is to drive from the current road 10 to the left via the ramp 20 into the target road 30, the driver needs to observe the left rearview mirror to observe the road conditions of the target road 30, so the left rearview mirror is determined as the target rearview mirror 40. Figure 4A and Figure 4B As shown, when the vehicle intends to drive from the current road 10 to the right through the ramp 20 into the target road 30, the driver needs to observe the right rearview mirror to observe the road conditions of the target road 30, so the right rearview mirror is determined as the target rearview mirror 40. This embodiment can specifically adjust the left and right fields of view of the rearview mirror on the side that the driver needs to observe, and the rearview mirror on the other side can keep the original posture unchanged, so that the driver can observe the rear situation of the side car when necessary, which is more conducive to safe driving.

[0077] In some embodiments, in step S203, determining a trigger condition for starting adjustment of the target rearview mirror includes: obtaining a driving speed of the vehicle; and determining a trigger time for starting adjustment of the target rearview mirror based on the positioning information and the driving speed.

[0078] like Figure 3A As shown, when the target rearview mirror 40 is started to be adjusted, the vehicle may be located at the entrance of the ramp 20 (such as S1 in the figure), or located on the current road 10 and at a set distance from the entrance of the ramp 20, for example, 3 meters from the entrance of the ramp 20. This embodiment combines the positioning information and the driving speed of the vehicle to determine the trigger time for starting the adjustment of the target rearview mirror 40. For example, when the vehicle position is closer to the entrance of the ramp 20 and / or the vehicle is traveling at a faster speed, the trigger time will come relatively early.

[0079] In some embodiments, in step S203, determining a trigger condition for starting adjustment of the target rearview mirror includes: determining a trigger location for starting adjustment of the target rearview mirror based on positioning information, the trigger location being located at a ramp entrance, or at a set distance from the ramp entrance.

[0080] For example, when it is located that the vehicle has arrived at the entrance of the ramp 20 (such as S1 in the figure) or is at a set distance (such as 3 meters) from the entrance of the ramp 20, the adjustment of the target rearview mirror 40 is started.

[0081] The above embodiments can accurately calculate the triggering conditions for starting the adjustment of the target rearview mirror, so that the rearview mirror of the vehicle can provide the driver with a convenient field of view whether on the current road or on the ramp.

[0082] In some embodiments of the present disclosure, controlling a rearview mirror adjustment mechanism of a vehicle to adjust the left and right fields of view of a target rearview mirror includes:

[0083] Determining a left and right angle adjustment amount that causes a target rearview mirror and an extending direction of a target road to be at a target angle; and

[0084] The rearview mirror adjustment mechanism of the vehicle is controlled to adjust the left and right fields of view of the target rearview mirror based on the left and right angle adjustment amount.

[0085] Reference Figure 3A As shown, the "left and right angle adjustment amount" can be understood as: adjusting the target rearview mirror from the current posture (as shown in the figure, the dotted rearview mirror with an angle of θ with the vehicle body) to the target angle γ0 with the extension direction of the target road 30 (as shown in the figure, the target rearview mirror 40 is filled with black solid), and the target rearview mirror 40 needs to rotate around a vertical axis (perpendicular to the paper in the figure, so it is not shown) to an angle δ.

[0086] Some embodiments of the present disclosure provide a more detailed method for determining the left and right angle adjustment amount. Figure 3A , Figure 3B , Figure 4A and Figure 4B As shown, in some embodiments, determining the left and right angle adjustment amount includes:

[0087] In response to determining that the target rearview mirror 40 is the left rearview mirror and the vehicle head is biased to the right relative to the ramp 20 (eg Figure 3A ), or the target rearview mirror 40 is a right rearview mirror and the vehicle body head is left-biased relative to the ramp 20 (as shown in Figure 4A Based on the functional relationship δ=k(α-β-θ+γ0-90°), determine the left and right angle adjustment amount; and

[0088] In response to determining that the target rearview mirror 40 is the left rearview mirror and the vehicle head is biased to the left relative to the ramp 20 (eg Figure 3B ), or the target rearview mirror 40 is a right rearview mirror and the vehicle body head is right-biased relative to the ramp 20 (as shown in FIG. Figure 4B Based on the functional relationship δ=k(α+β-θ+γ0-90°), the left and right angle adjustment amounts are determined;

[0089] Among them, δ is the left and right angle adjustment amount; k is the correction coefficient, which can be a variable value, and its initial value is related to the actual vehicle calibration; α is the angle between the ramp 20 and the target road 03 in the electronic map, which is generally an acute angle and can be obtained with the help of the electronic map; β is the angle between the longitudinal axis SS of the vehicle and the extension direction of the ramp 20, which is generally an acute angle and can be obtained with the help of the electronic map, the panoramic imaging equipment of the vehicle, etc.; γ0 is the target angle, which can use the default value of 90° or be set to other angle values ​​according to driving habits; θ is the current angle between the target rearview mirror 40 and the body of the vehicle, which may be an acute angle, a right angle or an obtuse angle, and can be changed in real time after the vehicle enters the ramp 20, and can be obtained with the help of an angle detection device.

[0090] It should be noted that in the embodiments of the present disclosure, in addition to adjusting the left and right fields of view of the target rearview mirror based on the left and right angle adjustment amount, the rearview mirror adjustment mechanism can also adjust the left and right fields of view of the target rearview mirror based on an equivalent substitution parameter of the left and right angle adjustment amount (for example, the target angle between the target rearview mirror and the vehicle body), and the present disclosure does not make specific limitations on this.

[0091] Figure 5 It is a flow chart of a method 500 for automatically adjusting a rearview mirror according to some embodiments of the present disclosure, wherein steps S501 to S505 may refer to the description in the aforementioned embodiments.

[0092] Reference Figure 5 As shown, in some embodiments, the method 500 further includes:

[0093] Step S506: after controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror, based on the angle between the ramp and the target road in the electronic map, the angle between the longitudinal axis of the vehicle and the extension direction of the ramp, and the current angle between the target rearview mirror and the body of the vehicle, determining the detection angle (i.e., the detected γ) between the target rearview mirror and the extension direction of the target road; and

[0094] Step S507 : In response to determining that the detected angle between the target rearview mirror and the extension direction of the target road exceeds the error range, the correction coefficient k is corrected, and the process returns to step 504 .

[0095] After the rearview mirror adjustment mechanism starts to adjust the left and right fields of view of the target rearview mirror, the adjustment result can be evaluated based on the above information. If the evaluation result is not ideal (i.e., the detection angle γ deviates too much from the target angle γ0 and exceeds the allowable error range), the correction coefficient k in the above functional relationship can be appropriately corrected. The evaluation result of the adjustment result can be performed in real time or at a certain frequency, for example, once every 0.5 seconds. The design of this embodiment can improve the accuracy of rearview mirror adjustment and make the field of view of the target rearview mirror more ideal.

[0096] Reference Figure 5 As shown, in some embodiments, the method 500 further includes:

[0097] Step S508, in response to determining that the vehicle has exited the ramp and / or the driving state is a state without a turn indication, the rearview mirror adjustment mechanism of the vehicle is controlled to adjust the current angle between the target rearview mirror and the body of the vehicle to an initial angle (refer to the rearview mirror posture of the vehicle at S2 in the figure).

[0098] like Figure 3A As shown, the initial angle θ0 can be defined as the angle between the target rearview mirror 40 and the vehicle body before the vehicle enters the ramp 20 and is still traveling on the current road 10, that is, the angle between the target rearview mirror 40 and the vehicle body before the adjustment of the target rearview mirror 40 is started. The initial angle θ0 can be a default angle (e.g., 90°), or can be adjusted to a suitable angle by the driver before driving the vehicle according to driving habits.

[0099] In this embodiment, the target rearview mirror 40 will automatically reset to a posture that facilitates the driver to observe the road conditions behind after the vehicle enters the target road 30, further providing safety protection for human-machine co-driving.

[0100] like Figure 6 As shown, the embodiment of the present disclosure also provides a device 600 for automatically adjusting a rearview mirror, comprising:

[0101] The acquisition unit 601 is configured to acquire the driving state of the vehicle and the positioning information of the vehicle on the electronic map, where the driving state includes a left turn indication state, a right turn indication state or a no turn indication state;

[0102] A first determining unit 602 is configured to determine a driving intention of the vehicle based on the driving state and the positioning information, where the driving intention includes continuing to drive on the current road or driving from the current road to a target road via a ramp;

[0103] A second determining unit 603 is configured to determine a target rearview mirror that needs to be adjusted from the left rearview mirror and the right rearview mirror in response to determining that the driving intention is to drive from the current road via the ramp to the target road, and determine a trigger condition for starting the adjustment of the target rearview mirror; and

[0104] The control unit 604 is configured to control the vehicle's rearview mirror adjustment mechanism to adjust the left and right fields of view of the target rearview mirror in response to determining that the vehicle's driving meets the trigger condition, so that the target rearview mirror and the extension direction of the target road are at a target angle.

[0105] By using the device of the embodiment of the present disclosure, the rearview mirror of the autonomous driving vehicle can be automatically adjusted to a suitable posture when the vehicle enters the target road via a ramp from the current road, thereby providing the driver with a more convenient field of view and improving the safety of human-machine co-driving.

[0106] According to an embodiment of the present disclosure, an electronic device is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of the aforementioned embodiment.

[0107] like Figure 7 As shown, the embodiment of the present disclosure also provides a rearview mirror system 700, including a left rearview mirror 701a, a right rearview mirror 701b, an electronic device 702 using the design scheme of the above embodiment, a rearview mirror adjustment mechanism 703 and an angle detection device 704, wherein the rearview mirror adjustment mechanism 703 is configured to adjust the left and right fields of view of each of the left rearview mirror 701a and the right rearview mirror 701b, and the angle detection device 704 is configured to collect the angle between each of the left rearview mirror 701a and the right rearview mirror 701b and the body of the vehicle. In some embodiments, the rearview mirror adjustment mechanism 703 also has the function of adjusting the field of view of the rearview mirror up and down. The rearview mirror adjustment mechanism 703 may include a motor and a gear transmission or belt transmission mechanism connected to the motor, etc., which is not specifically limited in the present disclosure.

[0108] The disclosed embodiment also provides an autonomous driving vehicle, including the aforementioned rearview mirror system 700. The rearview mirror of the autonomous driving vehicle can automatically adjust to a suitable posture when the vehicle enters a target road via a ramp from a current road, thereby providing a more convenient field of view for the driver and improving the safety of human-machine co-driving.

[0109] refer to Figure 8 , a block diagram of an electronic device 800 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0110] like Figure 8As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0111] Multiple components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 can be any type of device that can input information to the electronic device 800. The input unit 806 can receive input digital or character information and generate key signal input related to user settings and / or function control of the electronic device, and can include but is not limited to a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 807 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 808 can include but is not limited to a disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0112] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above. For example, some embodiment methods may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the embodiment method described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the embodiment method described above in any other appropriate manner (e.g., by means of firmware).

[0113] The embodiments of the present disclosure also provide a computer-readable storage medium storing computer instructions, wherein the computer instructions are configured to enable a computer to execute the steps of any of the aforementioned method embodiments.

[0114] In addition, an embodiment of the present disclosure further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of any of the methods in the aforementioned embodiments are implemented.

[0115] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0117] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0118] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0119] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0120] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0121] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0122] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples can be combined in various ways. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A method for automatically adjusting a rearview mirror, comprising: Acquire the driving status of the vehicle and the positioning information of the vehicle on the electronic map, wherein the driving status includes a left turn indication status, a right turn indication status or a no turn indication status; Determining a driving intention of the vehicle based on the driving state and the positioning information, wherein the driving intention includes continuing to drive on the current road or driving from the current road to a target road via a ramp; In response to determining that the driving intention is to drive from the current road via a ramp to a target road, determining a target rearview mirror that needs to be adjusted from a left rearview mirror and a right rearview mirror, and determining a trigger condition for starting adjustment of the target rearview mirror; as well as In response to determining that the vehicle driving satisfies the trigger condition, controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror so that the target rearview mirror and the extension direction of the target road are at a target angle, Wherein, controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror includes: Determining a left-right angle adjustment amount that causes the target rearview mirror and the extending direction of the target road to be at a target included angle; and Controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror based on the left and right angle adjustment amount, The method further comprises: After controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror, determining a detection angle between the target rearview mirror and the extension direction of the target road based on the angle between the ramp and the target road in the electronic map, the angle between the longitudinal axis of the vehicle and the extension direction of the ramp, and the current angle between the target rearview mirror and the body of the vehicle; and In response to determining that the detected angle exceeds an error range, the left and right angle adjustment amount is corrected.

2. The method according to claim 1, wherein: Determining the left and right angle adjustment amount includes: In response to determining that the target rearview mirror is a left rearview mirror and the head of the vehicle body is deviated to the right relative to the ramp, or the target rearview mirror is a right rearview mirror and the head of the vehicle body is deviated to the left relative to the ramp; based on the functional relationship δ=k(α-β-θ+γ0-90°), the left-right angle adjustment amount is determined; and in response to determining that the target rearview mirror is a left rearview mirror and the head of the vehicle body is deviated to the left relative to the ramp, or the target rearview mirror is a right rearview mirror and the head of the vehicle body is deviated to the right relative to the ramp; based on the functional relationship δ=k(α+β-θ+γ0-90°), the left-right angle adjustment amount is determined; Among them, δ is the left and right angle adjustment amount, k is the correction coefficient, α is the angle between the ramp and the target road in the electronic map, β is the angle between the longitudinal axis of the vehicle and the extension direction of the ramp, γ0 is the target angle, and θ is the current angle between the target rearview mirror and the vehicle body.

3. The method according to claim 2, wherein: In response to determining that the detected angle exceeds an error range, correcting the left and right angle adjustment amount includes: In response to determining that the detected angle exceeds the error range, the correction coefficient k is corrected, and the process returns to the step of determining the left and right angle adjustment amount.

4. The method according to claim 1, wherein: The target angle has a value range of greater than or equal to 80° and less than or equal to 100°.

5. The method according to claim 1, wherein: Determining a trigger condition for starting adjustment of the target rearview mirror includes: Obtain the vehicle's speed; and Based on the positioning information and the driving speed, a trigger time for starting adjustment of the target rearview mirror is determined.

6. The method according to claim 1, wherein: Determining a trigger condition for starting adjustment of the target rearview mirror includes: Based on the positioning information, a triggering location for starting adjustment of the target rearview mirror is determined, and the triggering location is located at a ramp entrance or a set distance from the ramp entrance.

7. The method according to claim 1, wherein: Determining the driving intention of the vehicle based on the driving state and the positioning information includes: In response to determining that the vehicle is in the leftmost lane among a plurality of lanes included in the current road and the driving state is a left turn indication state, determining that the driving intention is to drive leftward from the current road through a ramp into a target road; In response to determining that the vehicle is in the rightmost lane of a plurality of lanes included in the current road and the driving state is a right turn indication state, determining that the driving intention is to drive rightward from the current road through a ramp into a target road; and In response to determining that the vehicle is in a middle lane among a plurality of lanes included in a current road and the driving state is a no-turn indication state, it is determined that the driving intention is to continue driving on the current road.

8. The method according to claim 7, wherein: Determine the target mirror that needs to be adjusted from the left and right rearview mirrors, including: In response to determining that the driving intention is to drive from the current road to the left via a ramp onto a target road, determining that the left rearview mirror is the target rearview mirror; and In response to determining that the driving intention is to drive from the current road to the right via a ramp into a target road, the right rearview mirror is determined to be the target rearview mirror.

9. The method according to any one of claims 1 to 8, further comprising: In response to determining that the vehicle has exited the ramp and / or the driving state is a state without a turn indication, the rearview mirror adjustment mechanism is controlled to adjust the current angle between the target rearview mirror and the body of the vehicle to an initial angle.

10. A device for automatically adjusting a rearview mirror, comprising: an acquisition unit configured to acquire a driving state of the vehicle and positioning information of the vehicle on an electronic map, wherein the driving state includes a left turn indication state, a right turn indication state or a no turn indication state; A first determination unit is configured to determine a driving intention of the vehicle based on the driving state and the positioning information, wherein the driving intention includes continuing to drive on the current road or driving from the current road to a target road via a ramp; a second determining unit configured to, in response to determining that the driving intention is to drive from the current road via the ramp to the target road, determine a target rearview mirror that needs to be adjusted from the left rearview mirror and the right rearview mirror, and determine a trigger condition for starting the adjustment of the target rearview mirror; as well as a control unit configured to, in response to determining that the vehicle travel meets the trigger condition, control the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror so that the target rearview mirror and the extension direction of the target road are at a target angle, Wherein, the control unit is configured as: Determining a left-right angle adjustment amount that causes the target rearview mirror and the extending direction of the target road to be at a target included angle; and Controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror based on the left and right angle adjustment amount, The control unit is further configured to: After controlling the rearview mirror adjustment mechanism of the vehicle to adjust the left and right fields of view of the target rearview mirror, determining a detection angle between the target rearview mirror and the extension direction of the target road based on the angle between the ramp and the target road in the electronic map, the angle between the longitudinal axis of the vehicle and the extension direction of the ramp, and the current angle between the target rearview mirror and the body of the vehicle; and In response to determining that the detected angle exceeds an error range, the left and right angle adjustment amount is corrected.

11. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

12. A rearview mirror system, comprising: left and right rearview mirrors; The electronic device according to claim 11; a rearview mirror adjustment mechanism configured to adjust the left and right fields of view of each of the left rearview mirror and the right rearview mirror; as well as The angle detection device is configured to collect the angle between each of the left rearview mirror and the right rearview mirror and the body of the vehicle.

13. An autonomous driving vehicle comprising: The rearview mirror system of claim 12.

14. A computer-readable storage medium storing computer instructions, wherein: The computer instructions are configured to cause a computer to execute the method according to any one of claims 1 to 9.

15. A computer program product comprising a computer program, wherein: The computer program implements the method according to any one of claims 1 to 9 when executed by a processor.

Images