Method, device and equipment for controlling movement of external rearview mirror

Abstract

The present disclosure relates to a method, device and equipment for controlling the movement of an external rearview mirror. The method includes: a central control unit in a vehicle acquires the surrounding environment information and driver action information of the vehicle; determines the current working condition of the vehicle according to the surrounding environment information and / or driver action information; in the case where the working condition is a working condition related to the control of the external rearview mirror, performs a movement control process on the external rearview mirror of the vehicle according to the movement control strategy corresponding to the working condition, so that when there is a collision risk for the external rearview mirror or it is necessary to face a blind area, the movement control process of the external rearview mirror can be automatically performed, manual processing is avoided, safety is improved, and the movement control efficiency of the external rearview mirror is also improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and particularly to a method, device, and equipment for controlling the movement of an external rearview mirror. Background Art

[0002] Currently, the external rearview mirrors of vehicles are generally set at fixed positions. If position adjustment is required, for example, when there is a risk of collision with the external rearview mirror or when it is necessary to face a blind spot, the driver needs to manually adjust to fold the external rearview mirror or adjust its position, which is costly and inefficient. Summary of the Invention

[0003] The present disclosure provides a method, device, and equipment for controlling the movement of an external rearview mirror.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a method for controlling the movement of an external rearview mirror, which is applied to a central control unit in a vehicle. The method includes: obtaining peripheral environment information and driver action information of the vehicle; determining the current working condition of the vehicle according to the peripheral environment information and / or the driver action information; and performing movement control processing on the external rearview mirror of the vehicle according to the movement control strategy corresponding to the working condition when the working condition is a working condition related to the control of the external rearview mirror.

[0005] In an embodiment of the present disclosure, the working conditions related to the control of the external rearview mirror include at least one of the following: a narrow road parking condition, a lane change condition, an avoidance condition, and a low-speed steering condition.

[0006] In an embodiment of the present disclosure, the peripheral environment information includes: the road conditions where the vehicle is located and the situations of surrounding vehicles and pedestrians. Determining the current working condition of the vehicle according to the peripheral environment information and / or the driver action information includes: when the road conditions where the vehicle is located are narrow road conditions, the vehicle is in a stationary state, and there is a vehicle moving forward behind the vehicle in the situations of surrounding vehicles and pedestrians, determining the working condition as a narrow road parking condition; when the road conditions where the vehicle is located are multi-lane road conditions and the driver action information includes an external rearview mirror viewing action, or when the driver action information includes an external rearview mirror viewing action, determining the working condition as a lane change condition; when the road conditions where the vehicle is located are road intersection conditions and there is a vehicle or pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle in the situations of surrounding vehicles and pedestrians, determining the working condition as an avoidance condition; when the road conditions where the vehicle is located are road intersection turning conditions and the turning trajectory overlaps with the non-motor vehicle lane, or when the driver action information includes a turning action and the turning trajectory overlaps with the non-motor vehicle lane, determining the working condition as a low-speed steering condition.

[0007] In an embodiment of the present disclosure, when the working condition is a working condition related to the control of the external rearview mirror, according to the motion control strategy corresponding to the working condition, performing motion control processing on the external rearview mirror of the vehicle, including: when the working condition is a narrow road parking condition, determining the target external rearview mirror of the vehicle, where the target external rearview mirror is an external rearview mirror on the vehicle that is close to the vehicle on the side and rear; performing folding control processing on the target external rearview mirror.

[0008] In an embodiment of the present disclosure, the method further includes: when the vehicle exits the narrow road parking condition, performing unfolding control processing on the target external rearview mirror.

[0009] In an embodiment of the present disclosure, when the working condition is a working condition related to the control of the external rearview mirror, according to the motion control strategy corresponding to the working condition, performing motion control processing on the external rearview mirror of the vehicle, including: when the working condition is a lane change condition, determining the lane change direction of the vehicle; determining the external rearview mirror on the side of the vehicle facing the lane change direction as the target external rearview mirror; determining the unfolding position of the target external rearview mirror and the target position when facing the blind area; controlling the target external rearview mirror to perform at least one switching process between the unfolding position and the target position.

[0010] In an embodiment of the present disclosure, the method further includes: when the vehicle exits the lane change condition, stopping the switching process of the target external rearview mirror and performing unfolding control processing on the target external rearview mirror.

[0011] In an embodiment of the present disclosure, when the working condition is a working condition related to the control of the external rearview mirror, according to the motion control strategy corresponding to the working condition, performing motion control processing on the external rearview mirror of the vehicle, including: when the working condition is an avoidance condition, determining the object to be avoided by the vehicle and the target external rearview mirror on the side where the object to be avoided is located; the object to be avoided is a vehicle or a pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle; performing motion control processing on the target external rearview mirror according to a specified motion trajectory; the specified motion trajectory is a trajectory moving from the unfolded position to the folded position, which is used to indicate that the object to be avoided goes first.

[0012] In an embodiment of the present disclosure, the method further includes: when the vehicle exits the avoidance condition, stopping the motion control processing of the target external rearview mirror according to the specified motion trajectory and performing unfolding control processing on the target external rearview mirror.

[0013] In an embodiment of the present disclosure, when the working condition is related to the control of the exterior rearview mirror, according to the motion control strategy corresponding to the working condition, performing motion control processing on the exterior rearview mirror of the vehicle includes: when the working condition is a low-speed steering condition, determining the steering direction of the vehicle; determining the exterior rearview mirror on the side of the vehicle facing the steering direction as the target exterior rearview mirror; determining the target position of the target exterior rearview mirror when facing the non-motor vehicle lane according to the current direction of the vehicle and the position of the non-motor vehicle lane; controlling the target exterior rearview mirror to move from the current position to the target position, and repeating the step of determining the target position until the vehicle exits the low-speed steering condition.

[0014] According to a second aspect of the embodiments of the present disclosure, there is also provided a motion control device for an exterior rearview mirror, which is applied to a central control unit in a vehicle. The device includes: an acquisition module, configured to acquire the surrounding environment information and driver action information of the vehicle; a determination module, configured to determine the current working condition of the vehicle according to the surrounding environment information and / or the driver action information; a motion control module, configured to perform motion control processing on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition when the working condition is related to the control of the exterior rearview mirror.

[0015] According to a third aspect of the embodiments of the present disclosure, there is also provided a vehicle, including: a processor;

[0016] a memory for storing instructions executable by the processor; wherein, the processor is configured to: implement the steps of the motion control method for the exterior rearview mirror as described above.

[0017] According to a fourth aspect of the embodiments of the present disclosure, there is also provided an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the motion control method for the exterior rearview mirror as described above.

[0018] According to a fifth aspect of the embodiments of the present disclosure, there is also provided a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor, enabling the processor to execute the motion control method for the exterior rearview mirror as described above.

[0019] The technical solutions provided by the embodiments of the present disclosure at least bring the following beneficial effects:

[0020] A central control unit in a vehicle acquires the surrounding environment information and driver action information of the vehicle; determines the current working condition of the vehicle according to the surrounding environment information and / or driver action information; in the case where the working condition is a working condition related to the control of the external rearview mirror, performs a motion control process on the external rearview mirror according to the motion control strategy corresponding to the working condition, so that when there is a collision risk for the external rearview mirror or it is necessary to face a blind area, the motion control process of the external rearview mirror can be automatically performed, manual processing can be avoided, the safety can be improved, and the motion control efficiency of the external rearview mirror can be improved.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation to the present disclosure.

[0023] Figure 1 is a flowchart of a method for controlling the movement of an external rearview mirror according to an embodiment of the present disclosure;

[0024] Figure 2 is a schematic diagram of the system architecture of the vehicle;

[0025] Figure 3 is a schematic diagram of the parking working condition on a narrow road;

[0026] Figure 4 is a schematic diagram of the lane-changing working condition;

[0027] Figure 5 is a schematic diagram of the avoidance working condition when there are pedestrians to be avoided;

[0028] Figure 6 is a schematic diagram of the avoidance working condition when there are vehicles to be avoided;

[0029] Figure 7 is a schematic diagram of the low-speed steering working condition;

[0030] Figure 8 is a flowchart of a method for controlling the movement of an external rearview mirror according to another embodiment of the present disclosure;

[0031] Figure 9 is a flowchart of a method for controlling the movement of an external rearview mirror according to another embodiment of the present disclosure;

[0032] Figure 10 is a flowchart of a method for controlling the movement of an external rearview mirror according to another embodiment of the present disclosure;

[0033] Figure 11Flowchart of the motion control method for the exterior rearview mirror according to another embodiment of the present disclosure;

[0034] Figure 12 Structural schematic diagram of the motion control device for the exterior rearview mirror according to an embodiment of the present disclosure;

[0035] Figure 13 Block diagram of a structure of an electronic device shown according to an exemplary embodiment of the present disclosure. Detailed implementation manners

[0036] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0037] It should be noted that the terms "first", "second", etc. in the description and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0038] Currently, the exterior rearview mirrors of vehicles are generally set at fixed positions. If position adjustment is required, for example, when there is a risk of collision for the exterior rearview mirror or it needs to face a blind area, the driver needs to manually adjust it to fold the exterior rearview mirror or adjust the position of the exterior rearview mirror, which is costly and inefficient.

[0039] Figure 1 Flowchart of the motion control method for the exterior rearview mirror according to an embodiment of the present disclosure. Among them, it should be noted that the motion control method for the exterior rearview mirror in this embodiment is executed by the vehicle or by the central control unit in the vehicle. The following takes the central control unit in the vehicle as the execution subject for illustration.

[0040] Among them, the schematic diagram of the vehicle's system architecture can be as Figure 2 shown. In Figure 2 , the vehicle's system architecture includes: a central control unit 21, an intelligent cockpit unit 22, an intelligent driving system 23, a chassis control system 24, a left area control unit 25, a left exterior rearview mirror 26, a right area control unit 27, and a right exterior rearview mirror 28.

[0041] Among them, the central control unit 21 is respectively connected to the intelligent cockpit unit 22, the left area control unit 25, the right area control unit 27, the intelligent driving system 23 and the chassis control system 24; the intelligent cockpit unit 22 is used to collect driver action information. The intelligent driving system 23 is used to collect surrounding environment information. The chassis control system 24 is used to collect vehicle state information, for example, the vehicle speed, the vehicle steering angle, whether the vehicle brakes, etc.

[0042] Among them, the left area control unit 25 is connected to the left external rearview mirror 26, and is used to obtain the position of the left external rearview mirror 26 and feedback it to the central control unit 21; or, receive the motion control instruction of the central control unit 21 and send it to the left external rearview mirror 26.

[0043] Among them, the right area control unit 27 is connected to the right external rearview mirror 28, and is used to obtain the position of the right external rearview mirror 28 and feedback it to the central control unit 21; or, receive the motion control instruction of the central control unit 21 and send it to the right external rearview mirror 28.

[0044] As Figure 1 shown, the method includes the following steps:

[0045] Step 101, obtain the surrounding environment information and driver action information of the vehicle.

[0046] In the embodiments of the present disclosure, the central control unit in the vehicle can communicate with the intelligent driving system in the vehicle to obtain the surrounding environment information of the vehicle collected by the intelligent driving system. Among them, the intelligent driving system may include multiple different types of sensors, which can be set at different positions of the vehicle for collecting different data. Among them, the sensors are, for example, cameras, thermal sensors, radars, etc., which are not specifically limited here. The collected data, for example, whether there are vehicles around the vehicle, the road conditions of the vehicle, whether there are pedestrians around the vehicle, the speeds and trajectories of the surrounding vehicles of the vehicle, etc., can be set according to actual needs and are not specifically limited here.

[0047] In the embodiments of the present disclosure, the central control unit in the vehicle can communicate with the intelligent cockpit unit in the vehicle to obtain the driver action information collected by the intelligent cockpit unit. Among them, the intelligent cockpit unit may include multiple different types of sensors, such as cameras, etc., for collecting the actions of the driver.

[0048] Step 102, determine the current working condition of the vehicle according to the surrounding environment information and / or driver action information.

[0049] In the embodiments of the present disclosure, the surrounding environment information includes: the situation of the road where the vehicle is located and the situation of surrounding vehicles and pedestrians. The working conditions related to the control of the external rearview mirror include at least one of the following: parking condition on a narrow road, lane-changing condition, avoidance condition, and low-speed steering condition. Among them, the parking condition on a narrow road means that the vehicle stops on a narrow road, and there is a vehicle moving forward at the side rear. The vehicle moving forward may need to pass through the position where the vehicle stops. Therefore, in this case, it is necessary to determine the motion control process of the external rearview mirror of the vehicle to avoid collision between vehicles. The schematic diagram of the parking condition on a narrow road can be as Figure 3 shown. In Figure 3 , vehicle A represents the vehicle stopped on the narrow road, and vehicle B is located at the side rear of vehicle A and is in a forward moving state.

[0050] Among them, the lane-changing condition means that on a multi-lane road, the vehicle needs to change the lane where it is located. In this case, if there is a vehicle at the rear position in the target lane, when the vehicle changes lanes, it is necessary to control the movement of the external rearview mirror so that the driver can see the vehicle at the rear in the target lane and avoid collision between the two vehicles. The schematic diagram of the lane-changing condition can be as Figure 4 shown. In Figure 4 , vehicle A is the vehicle that needs to change from the right lane to the left lane, and vehicle B is located at the rear position of the left lane.

[0051] Among them, the avoidance condition means that when the vehicle is at the road intersection, there are vehicles or pedestrians that need to be avoided. For example, when the vehicle turns right, there are pedestrians who need to cross the road intersection. Another example is that when the vehicle turns right to the target lane, there are also vehicles in other lanes turning to the target lane, or there are vehicles in other lanes going straight to the target lane. The schematic diagram of the avoidance condition when there are pedestrians to be avoided can be as Figure 5 shown. The schematic diagram of the avoidance condition when there are vehicles to be avoided can be as Figure 6 shown.

[0052] Among them, the low-speed steering condition means that when the vehicle steers, it needs to occupy the non-motor vehicle lane. For example, when the vehicle steers, it needs to occupy the bicycle lane and / or the sidewalk. In this case, it is necessary to control the movement of the external rearview mirror so that the driver can see whether there are bicycles or pedestrians on the non-motor vehicle lane and avoid collision between the vehicle and bicycles or pedestrians. The schematic diagram of the low-speed steering condition can be as Figure 7 shown.

[0053] In an embodiment of the present disclosure, the process of the central control unit in the vehicle executing step 102 may be, for example, when the road condition where the vehicle is located is a narrow road condition, the vehicle is in a stationary state, and the surrounding vehicle and pedestrian condition is that there is a vehicle moving forward behind the vehicle, determining that the working condition is a narrow road parking working condition; when the road condition where the vehicle is located is a multi-lane road condition and the driver action information includes the action of checking the outside rearview mirror, or when the driver action information includes the action of checking the outside rearview mirror, determining that the working condition is a lane-changing working condition; when the road condition where the vehicle is located is a road intersection condition and the surrounding vehicle and pedestrian condition is that there is a vehicle or pedestrian whose corresponding trajectory overlaps with the vehicle's forward trajectory, determining that the working condition is an avoidance working condition; when the road condition where the vehicle is located is a road intersection turning condition and the turning trajectory overlaps with the non-motor vehicle lane, or when the driver action information includes a turning action and the turning trajectory overlaps with the non-motor vehicle lane, determining that the working condition is a low-speed turning working condition.

[0054] Among them, when the width of the road where the vehicle is located is less than the preset width threshold, it can be determined that the road condition where the vehicle is located is a narrow road condition; when the width of the road where the vehicle is located is greater than or equal to the preset width threshold, it can be determined that the road condition where the vehicle is located is a non-narrow road condition.

[0055] Among them, when there is a target vehicle at a corresponding distance less than the preset distance threshold at the rear side position of the vehicle, and the target vehicle is moving towards the direction where the vehicle is located, it is determined that there is a vehicle moving forward behind the vehicle; when there is no target vehicle at the rear side of the vehicle, or when the target vehicle is not moving towards the direction where the vehicle is located, it is determined that there is no vehicle moving forward behind the vehicle.

[0056] Among them, the action of checking the outside rearview mirror, for example, the action of checking the left outside rearview mirror, and / or the action of checking the right outside rearview mirror.

[0057] Among them, a vehicle whose corresponding trajectory overlaps with the vehicle's forward trajectory refers to the existence of a target vehicle whose forward trajectory overlaps with the vehicle's forward trajectory, with a risk of collision and the need for avoidance. Among them, a pedestrian whose corresponding trajectory overlaps with the vehicle's forward trajectory refers to the existence of a pedestrian whose forward trajectory overlaps with the vehicle's forward trajectory, with a risk of collision and the need for avoidance.

[0058] Among them, the turning trajectory overlapping with the non-motor vehicle lane means that the vehicle will pass through the non-motor vehicle lane during the turning process.

[0059] Step 103, when the working condition is a working condition related to the control of the outside rearview mirror, perform motion control processing on the outside rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition.

[0060] In the method for controlling the movement of the exterior rearview mirror according to an embodiment of the present disclosure, a central control unit in a vehicle acquires information on the surrounding environment of the vehicle and information on the driver's actions; determines the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information; and in the case where the operating condition is an operating condition related to the control of the exterior rearview mirror, performs a movement control process on the exterior rearview mirror of the vehicle according to the movement control strategy corresponding to the operating condition, so that when there is a collision risk for the exterior rearview mirror or it is necessary to face the blind area, the movement of the exterior rearview mirror can be automatically controlled, manual processing is avoided, safety is improved, and the movement control efficiency of the exterior rearview mirror is also improved.

[0061] Figure 8 The flowchart of the method for controlling the movement of the exterior rearview mirror according to another embodiment of the present disclosure is shown. It should be noted that the method for controlling the movement of the exterior rearview mirror in this embodiment is executed by the vehicle or by the central control unit in the vehicle. The following takes the central control unit in the vehicle as the execution subject for illustration.

[0062] As Figure 8 shown, the method includes the following steps:

[0063] Step 801, acquire information on the surrounding environment of the vehicle and information on the driver's actions.

[0064] Step 802, determine the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information.

[0065] Step 803, in the case where the operating condition is a narrow road parking condition, determine the target exterior rearview mirror of the vehicle, where the target exterior rearview mirror is an exterior rearview mirror on the vehicle close to the vehicle behind on the side.

[0066] In the embodiment of the present disclosure, if the vehicle behind on the side is located behind the left side of the vehicle, the target exterior rearview mirror is the left exterior rearview mirror of the vehicle; if the vehicle behind on the side is located behind the right side of the vehicle, the target exterior rearview mirror is the right exterior rearview mirror of the vehicle.

[0067] Step 804, perform a folding control process on the target exterior rearview mirror.

[0068] In the embodiment of the present disclosure, the process for the central control unit in the vehicle to execute Step 804 may be, for example, to determine the target position when the target exterior rearview mirror is folded; determine the current position of the target exterior rearview mirror; and the central control unit drives the target exterior rearview mirror to move from the current position to the target position through the area control unit corresponding to the target exterior rearview mirror, so as to implement the folding control process on the target exterior rearview mirror.

[0069] Among them, the central control unit in the vehicle can also execute the following process: when the vehicle exits the narrow road parking condition, perform unfolding control processing on the target exterior mirror. Among them, the vehicle exiting the narrow road parking condition means that the vehicle switches from the condition of meeting the narrow road parking condition to the condition of not meeting the narrow road parking condition. For example, when the vehicle behind moves forward and has passed the position where the vehicle is located, at this time, the forward moving vehicle may be in front of the side of the vehicle.

[0070] For example, the motion control process of the exterior mirror under the narrow road parking condition may include the following steps: (1) The intelligent driving system collects external environment information (surrounding environment information) to determine whether there is a vehicle approaching behind the vehicle (whether there is a forward moving vehicle on the side rear of the vehicle); the left / right area control unit obtains the position of the left / right rearview mirror (exterior mirror) feedback by the potentiometer and sends the rearview mirror position (rearview mirror position information) to the central control unit. (2) The intelligent driving system determines that a vehicle approaches from the side rear on the narrow road, determines the surrounding road conditions (narrow environment), and judges whether there is a possibility of rubbing. (3) The central control unit combines the current state of the vehicle (stationary state) and the current rearview mirror position (whether it has been unfolded), and gives a folding command for the left rearview mirror / right rearview mirror through calculation; sends the control command of the left rearview mirror / right rearview mirror (for example, the folding command) to the left / right area control unit. (4) The left / right area control unit folds the corresponding side rearview mirror, and stops after the control command of the left rearview mirror / right rearview mirror is executed in place. (5) The intelligent driving system determines that the vehicle on the side has left and gone far away, monitors the surrounding environment and performs logical operations to confirm the information that the vehicle on the side has left and gone far away, and provides it to the central control unit. (6) The central control unit combines the current state of the vehicle (stationary state) and the current rearview mirror position (whether it is folded due to the passing of the vehicle on the side), and gives an unfolding command for the left rearview mirror / right rearview mirror through calculation, and sends it to the left / right area control unit. (7) The left / right area control unit unfolds the corresponding side rearview mirror, and stops after the control command of the left rearview mirror / right rearview mirror is executed in place.

[0071] Among them, it should be noted that for the detailed content of steps 801 to 802, reference can be made to Figure 1 Steps 101 to 102 in the shown embodiment, and no detailed description will be given here.

[0072] In the method for controlling the movement of the exterior rearview mirror according to an embodiment of the present disclosure, a central control unit in a vehicle acquires information on the surrounding environment of the vehicle and information on the driver's actions; determines the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information; in the case where the operating condition is a narrow road parking condition, determines the target exterior rearview mirror of the vehicle, where the target exterior rearview mirror is an exterior rearview mirror on the vehicle close to the vehicle on the side and rear; performs a folding control process on the target exterior rearview mirror, so that when there is a risk of collision for the exterior rearview mirror, the movement of the exterior rearview mirror can be automatically controlled, such as folding or unfolding, avoiding manual processing, improving safety, and improving the efficiency of controlling the movement of the exterior rearview mirror.

[0073] Figure 9 The flowchart of the method for controlling the movement of the exterior rearview mirror according to another embodiment of the present disclosure is shown. It should be noted that the method for controlling the movement of the exterior rearview mirror in this embodiment is executed by the vehicle or by the central control unit in the vehicle. The following will take the central control unit in the vehicle as the execution subject for illustration.

[0074] As Figure 9 shown, the method includes the following steps:

[0075] Step 901, acquire information on the surrounding environment of the vehicle and information on the driver's actions.

[0076] Step 902, determine the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information.

[0077] Step 903, in the case where the operating condition is a lane change condition, determine the lane change direction of the vehicle.

[0078] In an example of the embodiment of the present disclosure, the lane change direction can be determined in combination with the exterior rearview mirror 5 viewed. For example, if the rearview mirror viewing action views the left exterior rearview mirror, the lane change direction is the left

[0079] side direction of the vehicle; if the rearview mirror viewing action views the right exterior rearview mirror, the lane change direction is the right side direction of the vehicle.

[0080] In another example, the lane change direction can be determined in combination with the turning on of the lights

[0081] detected by the chassis control system in the vehicle or the turning action. For example, if the turning on of the lights is for the left side lights of the vehicle, the lane change direction 0 is the left side direction of the vehicle; if the turning on of the lights is for the right side lights of the vehicle, the lane change direction is the right

[0082] side direction of the vehicle. Another example is that if the turning action is a left turning action, the lane change direction is the left side direction of the vehicle;

[0083] If the steering action is a right - hand steering action, the lane - changing direction is the right - hand side direction of the vehicle.

[0084] Step 904: Determine the outside rear - view mirror on the side of the vehicle facing the lane - changing direction as the target outside rear - view mirror.

[0085] 5 In the embodiments of the present disclosure, if the lane - changing direction is the left - hand side direction of the vehicle, the target outside rear - view mirror is the left

[0086] outside rear - view mirror; if the lane - changing direction is the right - hand side direction of the vehicle, the target outside rear - view mirror is the right outside rear - view mirror.

[0087] Step 905: Determine the deployment position of the target outside rear - view mirror and the target position when facing the blind area.

[0088] Step 906: Control the target outside rear - view mirror to perform at least one switching process between the deployment position and the target position.

[0089] 0 In the embodiments of the present disclosure, taking one switching process as an example, it can be to control the target outside rear - view mirror to move

[0090] from the deployment position to the target position, and then from the target position to the deployment position.

[0091] Among them, the central control unit in the vehicle can also perform the following process: in the case where the vehicle exits the lane - changing working condition, stop the switching process of the target outside rear - view mirror and perform a deployment control process on the target outside rear - view mirror. Among them, the vehicle exits the lane - changing working condition, for example, the vehicle has completed the lane - change.

[0092] 5 For example, a low - end model refers to a model with a lower configuration level. For example, it has a lower safety factor,

[0093] fewer auxiliary tools, etc. A high - end model, in contrast to a low - end model, refers to a model with a higher configuration level. For example, it has a higher safety factor, more auxiliary tools, etc. The motion control process of the outside rear - view mirror of a low - end model under a lane - changing working condition can, for example, include the following steps: (1) The intelligent cockpit unit (intelligent cockpit control single

[0094] Collect the driver's state (driver action information), judge the driver's behavior, and provide the judgment result to the central control unit. The left / right area control unit obtains the mirror position feedback by the potentiometer of the left / right rearview mirror (outside rearview mirror), and sends the mirror position (mirror position information) to the central control unit. (2) The driver checks whether there is a vehicle in the side lane through the left / right rearview mirror. The intelligent cockpit unit judges the driver's behavior and identifies whether there is a willingness to change lanes to the left or right. (3) The central control unit combines the currently obtained mirror position, calculates and gives the control instruction for the left rearview mirror / right rearview mirror, and sends it to the left / right area control unit. (4) The left / right area control unit controls the corresponding side's rearview mirror. After the control instruction of the left rearview mirror / right rearview mirror is executed in place, it stops.

[0095] For example, the motion control process of the outside rearview mirror of a high-end model under the lane change condition may include the following steps: (1) The intelligent driving system collects external environment information (whether there is a vehicle in the side and rear blind spots) and reports it to the central control unit; the intelligent cockpit unit collects the driver's state (driver action information), judges the driver's behavior, and provides the judgment result to the central control unit. The left / right area control unit obtains the mirror position feedback by the potentiometer of the left / right rearview mirror (outside rearview mirror), and sends the mirror position (mirror position information) to the central control unit. (2) The driver checks whether there is a vehicle in the side lane through the left / right rearview mirror. The intelligent cockpit unit judges the driver's behavior and identifies whether there is a willingness to change lanes to the left or right. (3) The intelligent driving system combines the external environment information, determines whether there is a vehicle in the side and rear blind spots, and reports it to the central control unit. (4) The central control unit combines the currently obtained mirror position, calculates and gives the control instruction for the left rearview mirror / right rearview mirror, and sends it to the left / right area control unit. (5) The left / right area control unit controls the corresponding side's rearview mirror. After the control instruction of the left rearview mirror / right rearview mirror is executed in place, it stops.

[0096] Among them, it should be noted that for the detailed content of steps 901 to 902, reference can be made to Figure 1 Steps 101 to 102 in the illustrated embodiment, and no detailed description will be given here.

[0097] In the method for controlling the movement of the outside rearview mirror according to an embodiment of the present disclosure, a central control unit in a vehicle acquires information on the surrounding environment of the vehicle and information on the driver's actions; determines the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information; determines the lane-changing direction of the vehicle in the case where the operating condition is a lane-changing condition; determines the outside rearview mirror on one side of the vehicle facing the lane-changing direction as the target outside rearview mirror; determines the deployment position of the target outside rearview mirror and the target position when facing the blind area; controls the target outside rearview mirror to perform at least one switching process between the deployment position and the target position; thereby being able to automatically perform movement control processing on the outside rearview mirror when the outside rearview mirror needs to face the blind area, avoiding manual processing, improving safety, and improving the movement control efficiency of the outside rearview mirror.

[0098] Figure 10 The flowchart of the method for controlling the movement of the outside rearview mirror according to another embodiment of the present disclosure is shown. It should be noted that the method for controlling the movement of the outside rearview mirror in this embodiment is executed by the vehicle or by the central control unit in the vehicle. The following takes the central control unit in the vehicle as the execution subject for illustration.

[0099] As Figure 10 shown, the method includes the following steps:

[0100] Step 1001, acquire information on the surrounding environment of the vehicle and information on the driver's actions.

[0101] Step 1002, determine the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information.

[0102] Step 1003, in the case where the operating condition is an avoidance condition, determine the object to be avoided by the vehicle and the target outside rearview mirror on the side where the object to be avoided is located; the object to be avoided is a vehicle or a pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle.

[0103] In the embodiment of the present disclosure, the avoidance condition means that when the vehicle is at a road intersection, there is a vehicle or a pedestrian that needs to be avoided. For example, when the vehicle turns right, there is a pedestrian who needs to cross the road intersection. Another example is that when the vehicle turns right into the target lane, there is also a vehicle in another lane turning into the target lane or a vehicle in another lane going straight into the target lane.

[0104] Step 1004, perform movement control processing on the target outside rearview mirror according to a specified movement trajectory; the specified movement trajectory is a trajectory from the deployment position to the folded position, which is used to indicate the object to be avoided to go first.

[0105] In the embodiments of the present disclosure, the trajectory from the deployed position to the folded position is generally used to indicate that the object to be avoided goes first. In addition, it should be noted that the specified motion trajectory can also be other trajectories used to indicate that the object to be avoided goes first. For example, moving from the current position to the first position and then to the second position. Another example is moving from the current position to the third position and then back to the current position. Here, the first position and the second position can be different and can be any positions that the exterior rearview mirror can reach. The third position is different from the current position and can be any position that the exterior rearview mirror can reach.

[0106] Among them, the central control unit in the vehicle can also perform the following process: in the case where the vehicle exits the avoidance working condition, it stops performing motion control processing on the target exterior rearview mirror according to the specified motion trajectory and performs deployment control processing on the target exterior rearview mirror. Here, when the vehicle exits the avoidance working condition, for example, the vehicle avoidance has been completed, that is, the pedestrian to be avoided has passed through the road intersection, or the vehicle to be avoided has turned or executed to the target lane.

[0107] For example, the motion control process of the exterior rearview mirror under the avoidance working condition can include the following steps: (1) The intelligent driving system collects external environment information, confirms the scenario of having an avoidance on the left or right side (whether there are vehicles or pedestrians to be avoided on the left or right side), and reports it to the central control unit; the left / right area control unit obtains the position of the rearview mirror (exterior rearview mirror) fed back by the potentiometer of the left / right rearview mirror and sends the rearview mirror position (rearview mirror position information) to the central control unit. (2) The intelligent driving system confirms the scenario of having an avoidance on the left or right side and sends a courtesy request for the left or right rearview mirror to the central control unit. (3) The central control unit combines the current state of the vehicle and the current rearview mirror position, calculates and gives a courtesy instruction (forward movement or return to the deployment instruction) for the left rearview mirror / right rearview mirror, and sends it to the left / right area control unit. (4) The left / right area control unit controls the corresponding side rearview mirror, and stops after the control instruction of the left rearview mirror / right rearview mirror is executed in place. (5) The intelligent driving system monitors the surrounding environment and performs logical operations to determine that the vehicles or pedestrians (pedestrians) in the external environment have left the courtesy scenario and reports it to the central control unit. (6) The central control unit combines the current state of the vehicle (such as vehicle speed, etc.) and the current rearview mirror position, calculates and gives a stop courtesy instruction for the left rearview mirror / right rearview mirror, and sends it to the left / right area control unit. (7) The left / right area control unit controls the corresponding side rearview mirror, and stops after the control instruction of the left rearview mirror / right rearview mirror is executed in place.

[0108] Among them, it should be noted that for the detailed content of steps 1001 to 1002, reference can be made to Figure 1Steps 101 to 102 in the illustrated embodiment will not be described in detail here.

[0109] In the method for controlling the movement of the external rearview mirror according to the embodiment of the present disclosure, the central control unit in the vehicle acquires the surrounding environment information and the driver's action information of the vehicle; determines the current working condition of the vehicle according to the surrounding environment information and / or the driver's action information; in the case where the working condition is an avoidance working condition, determines the object to be avoided by the vehicle and the target external rearview mirror on the side where the object to be avoided is located; the object to be avoided is a vehicle or a pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle; performs a movement control process on the target external rearview mirror according to a specified movement trajectory; the specified movement trajectory is a trajectory moving from the deployed position to the folded position, which is used to indicate that the object to be avoided goes first, so that when there is a risk of collision for the external rearview mirror, the movement of the external rearview mirror can be automatically controlled, avoiding manual processing, improving safety, and improving the movement control efficiency of the external rearview mirror.

[0110] Figure 11 The flowchart of the method for controlling the movement of the external rearview mirror according to another embodiment of the present disclosure is shown. It should be noted that the method for controlling the movement of the external rearview mirror in this embodiment is executed by the vehicle or by the central control unit in the vehicle. Hereinafter, the case where the execution entity is the central control unit in the vehicle will be taken as an example for description.

[0111] As Figure 11 shown, the method includes the following steps:

[0112] Step 1101, acquire the surrounding environment information and the driver's action information of the vehicle.

[0113] Step 1102, determine the current working condition of the vehicle according to the surrounding environment information and / or the driver's action information.

[0114] Step 1103, in the case where the working condition is a low-speed steering working condition, determine the steering direction of the vehicle.

[0115] In the embodiment of the present disclosure, the low-speed steering working condition means that the vehicle needs to occupy the non-motor vehicle lane when turning. For example, when the vehicle turns, it needs to occupy the bicycle lane and / or the sidewalk. In this case, through the movement control of the external rearview mirror, the driver can see whether there are bicycles or pedestrians on the non-motor vehicle lane, avoiding collision between the vehicle and bicycles or pedestrians.

[0116] Step 1104, determine the external rearview mirror on the side of the vehicle facing the steering direction as the target external rearview mirror.

[0117] Step 1105, determine the target position of the target external rearview mirror when facing the non-motor vehicle lane according to the current direction of the vehicle and the position of the non-motor vehicle lane.

[0118] In an embodiment of the present disclosure, the process by which the central control unit in a vehicle executes step 1105 may be, for example, to determine the relative position and relative direction between the vehicle and the non-motor vehicle lane based on the current direction, current position of the vehicle, and the position of the non-motor vehicle lane; and determine the target position of the target exterior rearview mirror based on the relative position and relative orientation.

[0119] It should be noted that during the steering process of the vehicle, before the steering ends, the current direction and current position of the vehicle change in real time. Therefore, it is necessary to determine the target position of the target exterior rearview mirror in real time.

[0120] Step 1106: Control the target exterior rearview mirror to move from the current position to the target position, and repeatedly execute the step of determining the target position until the vehicle exits the low-speed steering condition.

[0121] In an embodiment of the present disclosure, during the steering process of the vehicle, before the steering ends, performing motion control processing on the target exterior rearview mirror in real time according to the determined target position can ensure that the target exterior rearview mirror is aligned with the non-motor vehicle lane in real time, and can ensure that the driver can observe in real time whether there are pedestrians or non-motor vehicles on the non-motor vehicle lane, thereby avoiding collision behavior.

[0122] For example, the motion control process of the exterior rearview mirror under low-speed steering conditions may include the following steps: (1) The intelligent driving system collects external environment information, determines whether there is a scenario of avoidance on the left or right side, and reports it to the central control unit; the chassis control system collects the driver's operations such as steering and braking (driver action information), and then determines information such as the steering angle and the state of the brake pedal, and reports it to the central control unit; the left / right area control unit obtains the position of the left / right rearview mirror (exterior rearview mirror) fed back by the potentiometer, and sends the rearview mirror position (rearview mirror position information) to the central control unit. (2) The chassis control system collects the driver's deceleration and steering operations, and then determines whether the current vehicle state is a low-speed steering condition, and reports it to the central control unit. (3) When the external environment is a situation of occupying the non-motor vehicle lane and turning, the intelligent driving system confirms the situation of occupying the non-motor vehicle lane and turning in the external environment, and reports it to the central control unit. (4) The central control unit combines the current vehicle state and the current rearview mirror position, calculates the target angle of the left rearview mirror / right rearview mirror, gives the corresponding control instruction, and sends it to the left / right area control unit. (5) The left / right area control unit controls the corresponding side rearview mirror. After the control instruction of the left rearview mirror / right rearview mirror is executed in place, it stops. (6) The chassis control system collects the driver's acceleration and steering return operations, and then determines whether the current vehicle state is to exit the low-speed steering condition, and reports it to the central control unit. (7) When the external environment is a situation of leaving the occupation of the non-motor vehicle lane and turning, the intelligent driving system monitors the surrounding environment and performs logical operations to determine the external environment as the scene information of leaving the occupation of the non-motor vehicle lane and turning, and reports it to the central control unit. (8) The central control unit combines the current vehicle state (such as vehicle speed) and the current rearview mirror position, calculates the instruction for the left rearview mirror / right rearview mirror to return to the initial state, and sends it to the left / right area control unit. (9) The left / right area control unit controls the corresponding side rearview mirror. After the control instruction of the left rearview mirror / right rearview mirror is executed in place, it stops.

[0123] Among them, it should be noted that for the detailed content of steps 1101 to 1102, reference can be made to Figure 1 Steps 101 to 102 in the illustrated embodiment, and no detailed description will be given here.

[0124] In the method for controlling the movement of the exterior rearview mirror according to an embodiment of the present disclosure, a central control unit in a vehicle acquires information on the surrounding environment of the vehicle and information on the driver's actions; determines the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information; determines the steering direction of the vehicle in the case where the operating condition is a low-speed steering condition; determines the exterior rearview mirror on the side of the vehicle facing the steering direction as the target exterior rearview mirror; determines the target position of the target exterior rearview mirror when facing the non-motor vehicle lane according to the current direction of the vehicle and the position of the non-motor vehicle lane; controls the target exterior rearview mirror to move from the current position to the target position, and repeatedly executes the step of determining the target position until the vehicle exits the low-speed steering condition, so as to be able to automatically perform motion control processing on the exterior rearview mirror, avoid manual processing, improve safety, and improve the motion control efficiency of the exterior rearview mirror.

[0125] Figure 12 FIG. is a schematic structural diagram of a device for controlling the movement of an exterior rearview mirror according to an embodiment of the present disclosure.

[0126] As Figure 12 shown, the device for controlling the movement of the exterior rearview mirror can be applied to a central control unit in a vehicle, and the device may include: an acquisition module 1201, a determination module 1202, and a motion control module 1203.

[0127] Among them, the acquisition module 1201 is configured to acquire information on the surrounding environment of the vehicle and information on the driver's actions;

[0128] The determination module 1202 is configured to determine the current operating condition of the vehicle according to the surrounding environment information and / or the driver's action information;

[0129] The motion control module 1203 is configured to perform motion control processing on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the operating condition in the case where the operating condition is an operating condition related to the control of the exterior rearview mirror.

[0130] In an embodiment of the present disclosure, the operating conditions related to the control of the exterior rearview mirror include at least one of the following: a narrow road parking condition, a lane change condition, an avoidance condition, and a low-speed steering condition.

[0131] In one embodiment of the present disclosure, the surrounding environment information includes: the road conditions of the location and the vehicle and pedestrian conditions in the vicinity. The determination module 1202 is specifically configured to determine that the operating condition is a narrow road surface parking condition when the road conditions of the location are narrow road conditions, the vehicle is in a stationary state, and there is a vehicle moving forward behind the vehicle in the vehicle and pedestrian conditions in the vicinity; determine that the operating condition is a lane change condition when the road conditions of the location are multi-lane road conditions and the driver action information includes an action of checking the outside rearview mirror, or when the driver action information includes an action of checking the outside rearview mirror; determine that the operating condition is an avoidance condition when the road conditions of the location are road intersection conditions and there is a vehicle or pedestrian in the vehicle and pedestrian conditions in the vicinity whose corresponding trajectory overlaps with the forward trajectory of the vehicle; determine that the operating condition is a low-speed steering condition when the road conditions of the location are road intersection turning conditions and the turning trajectory overlaps with the non-motor vehicle lane, or when the driver action information includes a turning action and the turning trajectory overlaps with the non-motor vehicle lane.

[0132] In one embodiment of the present disclosure, the motion control module 1203 is specifically configured to determine the target outside rearview mirror of the vehicle when the operating condition is a narrow road surface parking condition, where the target outside rearview mirror is an outside rearview mirror on the vehicle close to the vehicle behind; perform a folding control process on the target outside rearview mirror.

[0133] In one embodiment of the present disclosure, the motion control module 1203 is further configured to perform an unfolding control process on the target outside rearview mirror when the vehicle exits the narrow road surface parking condition.

[0134] In one embodiment of the present disclosure, the motion control module 1203 is specifically configured to determine the lane change direction of the vehicle when the operating condition is a lane change condition; determine the outside rearview mirror on the vehicle on the side towards the lane change direction as the target outside rearview mirror; determine the unfolding position of the target outside rearview mirror and the target position when facing the blind area; control the target outside rearview mirror to perform at least one switching process between the unfolding position and the target position.

[0135] In one embodiment of the present disclosure, the motion control module 1203 is further configured to stop the switching process of the target outside rearview mirror and perform an unfolding control process on the target outside rearview mirror when the vehicle exits the lane change condition.

[0136] In an embodiment of the present disclosure, the motion control module 1203 is specifically configured to, when the working condition is an avoidance working condition, determine the object to be avoided by the vehicle and the target exterior rearview mirror on the side where the object to be avoided is located; the object to be avoided is a vehicle or a pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle; perform motion control processing on the target exterior rearview mirror according to a specified motion trajectory; the specified motion trajectory is a trajectory that moves from the unfolded position to the folded position, and is used to indicate that the object to be avoided goes first.

[0137] In an embodiment of the present disclosure, the motion control module 1203 is further configured to, when the vehicle exits the avoidance working condition, stop performing motion control processing on the target exterior rearview mirror according to the specified motion trajectory, and perform unfolding control processing on the target exterior rearview mirror.

[0138] In an embodiment of the present disclosure, the motion control module 1203 is specifically configured to, when the working condition is a low-speed steering working condition, determine the steering direction of the vehicle; determine the exterior rearview mirror on the side of the vehicle facing the steering direction as the target exterior rearview mirror; determine the target position of the target exterior rearview mirror when it faces the non-motor vehicle lane according to the current direction of the vehicle and the position of the non-motor vehicle lane; control the target exterior rearview mirror to move from the current position to the target position, and repeat the step of determining the target position until the vehicle exits the low-speed steering working condition.

[0139] In the motion control device for an exterior rearview mirror according to an embodiment of the present disclosure, a central control unit in the vehicle acquires the surrounding environment information and driver action information of the vehicle; determines the current working condition of the vehicle according to the surrounding environment information and / or driver action information; when the working condition is a working condition related to exterior rearview mirror control, performs motion control processing on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition, so that when there is a collision risk for the exterior rearview mirror or it is necessary to face a blind area, the motion control processing of the exterior rearview mirror can be automatically performed, manual processing can be avoided, safety can be improved, and the motion control efficiency of the exterior rearview mirror can be improved.

[0140] According to the third aspect of the embodiments of the present disclosure, there is also provided a vehicle, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to: implement the steps of the above-described method for motion control of an exterior rearview mirror.

[0141] According to the fourth aspect of the embodiments of the present disclosure, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the above-described method for motion control of an exterior rearview mirror.

[0142] To implement the above embodiments, the present disclosure also proposes a storage medium.

[0143] Wherein, when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is enabled to execute the above method.

[0144] To implement the above embodiments, the present disclosure also provides a computer program product.

[0145] Wherein, when the computer program product is executed by the processor of the electronic device, the electronic device is enabled to execute the above method.

[0146] Figure 13 FIG. is a structural block diagram of an electronic device shown according to an exemplary embodiment. Figure 13 The electronic device shown is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0147] As Figure 13 shown, the electronic device 1000 includes a processor 111, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM, Read Only Memory) 112 or the program loaded from the memory 116 into the random access memory (RAM, Random Access Memory) 113. In the RAM 113, various programs and data required for the operation of the electronic device 1000 are also stored. The processor 111, the ROM 112, and the RAM 113 are connected to each other through a bus 114. The input / output (I / O, Input / Output) interface 115 is also connected to the bus 114.

[0148] The following components are connected to the I / O interface 115: a memory 116 including a hard disk, etc.; and a communication part 117 including a network interface card such as a local area network (LAN) card, a modem, etc., and the communication part 117 performs communication processing via a network such as the Internet; a driver 118 is also connected to the I / O interface 115 as needed.

[0149] Specifically, according to the embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 117. When the computer program is executed by the processor 111, the above functions defined in the method of the present disclosure are executed.

[0150] In an exemplary embodiment, a storage medium including instructions, such as a memory including instructions, is also provided. The above instructions can be executed by the processor 111 of the electronic device 1000 to complete the above method. Optionally, the storage medium can be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0151] In the present disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. And

[0152] In the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. Such a propagated data signal

[0153] can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical fiber, RF, etc.

[0154] and so on, or any suitable combination of the above.

[0155] Those skilled in the art will readily think of other implementation schemes of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure

[0156] changes, and these variations, uses, or adaptations follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only

[0157] regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0158] It should be understood that the present disclosure is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A method for controlling the movement of an external rearview mirror, characterized in that, A central control unit applied to a vehicle, the method comprising: Obtaining the surrounding environment information and driver action information of the vehicle; Determining the current working condition of the vehicle according to the surrounding environment information and / or the driver action information; In the case where the working condition is a working condition related to the control of the exterior rearview mirror, performing a motion control process on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition, and the working conditions related to the control of the exterior rearview mirror include: a narrow road surface parking condition, a lane change condition, an avoidance condition, a low-speed steering condition; The surrounding environment information includes: the road condition where the vehicle is located and the situation of surrounding vehicles and pedestrians, and determining the current working condition of the vehicle according to the surrounding environment information and / or the driver action information includes: In the case where the road condition where the vehicle is located is a narrow road condition, the vehicle is in a stationary state, and there is a vehicle moving forward behind the vehicle in the situation of surrounding vehicles and pedestrians, determining the working condition as a narrow road surface parking condition; In the case where the road condition where the vehicle is located is a multi-lane road condition and the driver action information includes an exterior rearview mirror viewing action, or in the case where the driver action information includes an exterior rearview mirror viewing action, determining the working condition as a lane change condition, where the exterior rearview mirror viewing action includes a left exterior rearview mirror viewing action and / or a right exterior rearview mirror viewing action; In the case where the road condition where the vehicle is located is a road intersection condition and there is a vehicle or pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle in the situation of surrounding vehicles and pedestrians, determining the working condition as an avoidance condition; In the case where the road condition where the vehicle is located is a road intersection turning condition and the turning trajectory overlaps with the non-motor vehicle lane, or in the case where the driver action information includes a turning action and the turning trajectory overlaps with the non-motor vehicle lane, determining the working condition as a low-speed steering condition.

2. The method according to claim 1, wherein The performing a motion control process on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition in the case where the working condition is a working condition related to the control of the exterior rearview mirror includes: In the case where the working condition is a narrow road surface parking condition, determining the target exterior rearview mirror of the vehicle, where the target exterior rearview mirror is an exterior rearview mirror on the vehicle close to the vehicle behind; Performing a folding control process on the target exterior rearview mirror.

3. The method according to claim 2, wherein The method further comprises: In the case where the vehicle exits the narrow road surface parking condition, performing an unfolding control process on the target exterior rearview mirror.

4. The method according to claim 1, wherein The performing a motion control process on the exterior rearview mirror of the vehicle according to the motion control strategy corresponding to the working condition in the case where the working condition is a working condition related to the control of the exterior rearview mirror includes: In the case where the working condition is a lane change condition, determining the lane change direction of the vehicle; Determining the exterior rearview mirror on the vehicle on the side towards the lane change direction as the target exterior rearview mirror; Determining the unfolding position of the target exterior rearview mirror and the target position when facing the blind area; Controlling the target exterior rearview mirror to perform at least one switching process between the unfolding position and the target position.

5. The method according to claim 4, wherein The method further comprises: When the vehicle exits the lane-changing condition, stop switching the target outside rearview mirror and perform an unfolding control process on the target outside rearview mirror.

6. The method according to claim 1, wherein When the condition is a condition related to outside rearview mirror control, perform a motion control process on the outside rearview mirror of the vehicle according to the motion control strategy corresponding to the condition, including: When the condition is an avoidance condition, determine the object to be avoided by the vehicle and the target outside rearview mirror on the side where the object to be avoided is located; the object to be avoided is a vehicle or a pedestrian whose corresponding trajectory overlaps with the forward trajectory of the vehicle. Perform a motion control process on the target outside rearview mirror according to a specified motion trajectory; the specified motion trajectory is a trajectory moving from the unfolded position to the folded position, and is used to indicate that the object to be avoided goes first.

7. The method according to claim 6, wherein The method further includes: When the vehicle exits the avoidance condition, stop performing the motion control process on the target outside rearview mirror according to the specified motion trajectory and perform an unfolding control process on the target outside rearview mirror.

8. The method according to claim 1, wherein When the condition is a condition related to outside rearview mirror control, perform a motion control process on the outside rearview mirror of the vehicle according to the motion control strategy corresponding to the condition, including: When the condition is a low-speed steering condition, determine the steering direction of the vehicle. Determine the outside rearview mirror on the side of the vehicle facing the steering direction as the target outside rearview mirror. According to the current direction of the vehicle and the position of the non-motor vehicle lane, determine the target position when the target outside rearview mirror faces the non-motor vehicle lane. Control the target outside rearview mirror to move from the current position to the target position, and repeat the step of determining the target position until the vehicle exits the low-speed steering condition.

9. A motion control device for an external rearview mirror, characterized in that, Applied to the central control unit in a vehicle, the device includes: An acquisition module, configured to acquire the surrounding environment information and driver action information of the vehicle. A determination module, configured to determine the current condition of the vehicle according to the surrounding environment information and / or the driver action information. A motion control module, configured to perform a motion control process on the outside rearview mirror of the vehicle according to the motion control strategy corresponding to the condition when the condition is a condition related to outside rearview mirror control, and the conditions related to outside rearview mirror control include: narrow road surface parking condition, lane-changing condition, avoidance condition, low-speed steering condition. The surrounding environment information includes: the road conditions where the vehicle is located and the surrounding vehicle and pedestrian conditions. The determination module is specifically configured to: When the road conditions where the vehicle is located are narrow road conditions, the vehicle is in a stationary state, and the surrounding vehicle and pedestrian conditions are that there is a vehicle moving forward behind the vehicle, determine that the condition is a narrow road surface parking condition. When the road condition where the vehicle is located is a multi-lane road condition and the driver action information includes an external rearview mirror viewing action, or when the driver action information includes an external rearview mirror viewing action, determine that the working condition is a lane change working condition, where the external rearview mirror viewing action includes a left external rearview mirror viewing action and / or a right external rearview mirror viewing action; When the road condition where the vehicle is located is a road intersection condition and there are vehicles or pedestrians with corresponding trajectories overlapping the vehicle's forward trajectory in the surrounding vehicle and pedestrian conditions, determine that the working condition is an avoidance working condition; When the road condition where the vehicle is located is a road intersection turning condition and the turning trajectory overlaps with the non-motor vehicle lane, or when the driver action information includes a turning action and the turning trajectory overlaps with the non-motor vehicle lane, determine that the working condition is a low-speed turning working condition.

10. A vehicle, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to: Implement the steps of the method according to any one of claims 1 to 8.

11. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the method for controlling the movement of an external rearview mirror according to any one of claims 1 to 8.

12. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor, enable the processor to execute the method for controlling the movement of an external rearview mirror according to any one of claims 1 to 8.

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