Environment information detection method and device, storage medium and vehicle

Abstract

The application discloses an environment information detection method and device, a storage medium and a vehicle. In response to an electronic outside rearview mirror system fault signal, a rear corner detection device, a parking detection device and a displayable screen corresponding to a fault position are determined. Vehicle surrounding environment information is determined based on rear corner environment information collected by the rear corner detection device and side rear environment information collected by the parking detection device, and display content corresponding to the vehicle surrounding environment information is displayed on the displayable screen. The rear corner detection device is used to detect the rear corner environment information of the vehicle, and the parking detection device is used to detect the side rear environment information of the vehicle. The determined vehicle surrounding environment information can completely include overall environment information of the side rear of the vehicle. The display content corresponding to the vehicle surrounding environment information is further displayed on the displayable screen, which can effectively assist a user in safely controlling the vehicle, improve the reliability and safety of the vehicle rearview system, and ensure the driving safety of the user.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to an environmental information detection method, device, storage medium, and vehicle. Background Technology

[0002] With the integration and advancement of automotive R&D technology and artificial intelligence technology, intelligent vehicle services are becoming increasingly important highlights and selling points for vehicles in diverse scenarios. Among these, electronic exterior rearview mirror systems, based on their onboard cameras, collect higher-definition rear view environmental information and display it directly on an electronic display screen connected inside the vehicle. Leveraging advantages such as small size, they are gradually replacing traditional lens-type exterior rearview mirrors. However, if the electronic exterior rearview mirror system malfunctions, it can pose a significant safety hazard to driving. Therefore, an environmental information detection method is needed to accurately detect the information about the environment behind the vehicle, thereby ensuring the safety of the user while driving. Summary of the Invention

[0003] This application provides an environmental information detection method, device, storage medium, and vehicle, which can solve the technical problem in the related art that the vehicle condition and environmental information cannot be obtained after the electronic rearview mirror malfunctions, causing driving safety hazards.

[0004] In a first aspect, embodiments of this application provide an environmental information detection method, the method comprising:

[0005] In response to a fault signal from the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal from the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device, and display screen corresponding to the fault location;

[0006] The vehicle's surrounding environment information is determined based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and the display content corresponding to the vehicle's surrounding environment information is displayed on the displayable screen.

[0007] Secondly, embodiments of this application provide an environmental information detection device, the device comprising:

[0008] The detection device determination module is used to respond to the fault signal of the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal of the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device and display screen corresponding to the fault location;

[0009] The environmental information display module is used to determine the environmental information around the vehicle based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and to display the display content corresponding to the environmental information around the vehicle on the displayable screen.

[0010] Thirdly, embodiments of this application provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps of the method described above.

[0011] Fourthly, embodiments of this application provide a vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being adapted to be loaded by the processor and to execute the steps of the method described above.

[0012] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following:

[0013] This application provides an environmental information detection method. In response to a fault signal from an electronic rearview mirror system, it determines the fault location corresponding to the fault signal, as well as the corresponding rear corner detection device, parking detection device, and display screen. Based on the rear corner environmental information collected by the rear corner detection device and the side-rear environmental information collected by the parking detection device, it determines the vehicle's surrounding environmental information and displays the corresponding content on the display screen. Since the rear corner detection device and parking detection device installed on the vehicle body can detect objects and their distances in the vehicle's side-rear environment, when a fault signal from the electronic rearview mirror system occurs, the required rear corner detection device can be determined based on the fault location to detect the vehicle's rear corner environmental information, and the parking detection device can be determined to detect the vehicle's side-rear environmental information. Thus, the vehicle's surrounding environmental information determined based on the rear corner and side-rear environmental information can completely include the overall environmental information within a range to the side-rear of the vehicle. Furthermore, displaying the corresponding content on the available display screen effectively assists users in safe vehicle control in rearview mirror fault scenarios, improving the reliability and safety of the vehicle's rearview system and ensuring user driving safety. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 An exemplary system architecture diagram of an environmental information detection method provided in this application embodiment;

[0016] Figure 2 A flowchart illustrating an environmental information detection method provided in this application embodiment;

[0017] Figure 3A schematic diagram of a control method for an electronic exterior rearview mirror provided in an embodiment of this application;

[0018] Figure 4 A flowchart illustrating an environmental information detection method provided in this application embodiment;

[0019] Figure 5 A logical schematic diagram of an environmental information detection method provided in an embodiment of this application;

[0020] Figure 6 A flowchart illustrating an environmental information detection method provided in this application embodiment;

[0021] Figure 7 A structural block diagram of an environmental information detection device provided in an embodiment of this application;

[0022] Figure 8 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0023] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0025] With the integration and advancement of automotive R&D technology and artificial intelligence technology, intelligent vehicle services are becoming an increasingly important highlight and selling point for vehicles in diverse scenarios. Among these, electronic exterior rearview mirror systems are one of the key directions of intelligent vehicle services.

[0026] Traditional optical rearview mirrors, including interior and exterior mirrors, have a history of over a century. They provide drivers with information about pedestrians, vehicles, and roads behind and to the sides of the vehicle, and their importance to driving safety is widely recognized. However, traditional exterior mirrors have some drawbacks. First, they increase wind resistance. The higher the drag coefficient, the greater the wind resistance the vehicle has to overcome, resulting in higher fuel consumption. Currently, most vehicles have a drag coefficient of around 0.2 to 0.4, while exterior mirrors contribute 0.01 to 0.03 to the drag coefficient, a significant factor that can affect the vehicle's range. Second, the accuracy of the image reflected in traditional rearview mirrors is affected by actual conditions. For example, in heavy rain or darkness, the image reflected in the mirror often becomes blurry and unclear, severely impacting the user's observation and creating safety hazards for vehicle control and driving. Third, traditional rearview mirrors often have blind spots. Due to the size of the mirror and the adjustable angle, the information they can provide is relatively limited. In addition, passengers in other seats may also obstruct the driver's view, resulting in a lack of information reception and thus affecting driving safety.

[0027] Building upon this foundation, during the development of intelligent vehicle functions and services, an Electronic Rearview Mirror System (CMS) was developed. This system is a combination of a camera and a display, enhancing the driver's visual perception of the vehicle's surroundings and rear sides, further improving driving safety and comfort. Specifically, it uses an external camera to capture environmental images of the vehicle's surroundings and rear sides, processes the data, and displays the images on a screen inside the vehicle's cabin. It also integrates blind spot warning and obstacle detection functions. The electronic rearview mirror boasts advantages such as small size, retractability, low wind resistance, clear image quality, and a more technologically advanced feel. It allows drivers to perceive all-around road conditions without significantly altering their viewing angle, gradually replacing traditional rearview mirror systems in vehicles. Compared to traditional optical rearview mirrors, it offers advantages such as reduced vehicle weight, reduced drag and noise, and resolution of blind spot issues.

[0028] Because vehicles using electronic rearview systems are susceptible to malfunction, and given the significant impact of these systems on user safety, a malfunction in the rearview mirrors can cause users to lose awareness of the environment to the rear corners and sides of the vehicle, posing a significant threat to driving and vehicle control safety.

[0029] Therefore, this application provides an environmental information detection method that, in response to a fault signal from an electronic rearview mirror system, determines the fault location corresponding to the fault signal, as well as the rear corner detection device, parking detection device, and display screen corresponding to the fault location; determines the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and displays the corresponding display content on the display screen, thereby solving the technical problem of not being able to obtain vehicle condition environmental information after an electronic rearview mirror malfunction, which causes driving safety hazards.

[0030] Please see Figure 1 , Figure 1 This is an exemplary system architecture diagram of an environmental information detection method provided in an embodiment of this application.

[0031] like Figure 1 As shown, the system architecture may include vehicle 101, network 102, and server 103. Network 102 serves as the medium for providing a communication link between vehicle 101 and server 103. Network 102 may include various types of wired or wireless communication links, such as: wired communication links including fiber optic, twisted-pair, or coaxial cable; and wireless communication links including Bluetooth, Wireless-Fidelity (Wi-Fi), or microwave communication links, etc.

[0032] Vehicle 101 can interact with server 103 via network 102 to receive or send messages to server 103, or vehicle 101 can interact with server 103 via network 102 to receive messages or data sent to server 103 by other users. Vehicle 101 can be hardware or software. When vehicle 101 is hardware, it can be various electronic devices, including but not limited to smartwatches, smartphones, tablets, laptops, and desktop computers. When vehicle 101 is software, it can be installed in the aforementioned electronic devices, and can be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module; no specific limitation is made here.

[0033] In this embodiment, vehicle 101 responds to a fault signal from the electronic exterior rearview mirror system, determines the fault location corresponding to the fault signal, and determines the rear corner detection device, parking detection device, and display screen corresponding to the fault location. At this time, vehicle 101 can determine the surrounding environment information of the vehicle based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and display the display content corresponding to the surrounding environment information of the vehicle on the display screen.

[0034] Server 103 can be a business server providing various services. It should be noted that server 103 can be either hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 103 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide distributed services), or as a single software program or software module; no specific limitations are made here.

[0035] Alternatively, the system architecture may not include server 103. In other words, server 103 may be an optional device in the embodiments of this specification. That is, the method provided in the embodiments of this specification can be applied to a system structure that only includes vehicle 101. The embodiments of this application do not limit this.

[0036] It should be understood that Figure 1 The number of vehicles, networks, and servers shown is only illustrative; the number can be any number depending on the implementation requirements.

[0037] Please see Figure 2 , Figure 2 This is a flowchart illustrating an environmental information detection method provided in an embodiment of this application. The executing entity in this embodiment can be a vehicle performing environmental information detection, a processor within the vehicle performing the environmental information detection method, or an environmental information detection service within the vehicle performing the environmental information detection method. For ease of description, the following example uses the electronic exterior rearview controller in the vehicle's electronic exterior rearview mirror system as the processor to illustrate the specific execution process of the environmental information detection method.

[0038] like Figure 2 As shown, environmental information detection methods can include at least:

[0039] S202. In response to a fault signal from the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal from the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device, and display screen corresponding to the fault location.

[0040] Optionally, during driving, drivers need to use interior and exterior rearview mirrors to observe road and vehicle conditions to the sides and rear of the vehicle to facilitate vehicle control. Therefore, exterior rearview mirrors are closely related to driving safety. In modern intelligent vehicles, electronic exterior rearview mirrors are an important component. They use high-quality cameras to capture environmental images, process these images digitally, and display them on a built-in electronic exterior rearview display screen, providing users with a clear and accurate rear view. However, when electronic exterior rearview mirrors malfunction, users cannot perceive the vehicle's surroundings, posing a significant safety hazard. The surroundings can be a range extending outwards from the vehicle body; specifically, this range can be 3 meters, 5 meters, 10 meters, etc., and this embodiment does not limit the range.

[0041] Optionally, to provide more accurate information about the surrounding environment to guide users when parking or reversing, vehicles are typically equipped with detection sensors capable of detecting obstacles and moving objects within a certain range around the vehicle. Therefore, to help users understand the rear view environment even when the electronic side mirrors malfunction, the vehicle's existing detection sensors can be used to detect the surrounding environment, replacing the currently missing rear view information and ensuring user safety while driving.

[0042] Specifically, rear corner detection devices, as existing detection devices in vehicles used for collision avoidance and parking, are commonly installed at the left and right rear corners of the vehicle. Parking detection devices, as existing detection devices in vehicles used for parking, are commonly installed at the left, right, left rear corner, and right rear corner of the vehicle. Thus, rear corner detection devices and parking detection devices can achieve all-round environmental monitoring around the vehicle. When an electronic rearview mirror malfunctions, given the presence of multiple rear corner detection devices and parking detection devices in a vehicle, depending on the specific circumstances of the malfunction, one or more of these devices may be required. In other words, when an electronic rearview mirror malfunctions, the system first needs to respond to the fault signal emitted by the faulty component to perform a simple analysis and judgment of the rearview malfunction information. This determines the corresponding rear corner detection device and parking detection device. Furthermore, to provide environmental information to the user, a suitable display screen for displaying the environmental information collected by the rear corner detection device also needs to be identified. This process allows for the selection of effective rear corner detection devices, parking detection devices, and display screens from all detection devices, addressing the lack of information about the vehicle's surrounding environment.

[0043] Further, please refer to Figure 3 , Figure 3 This is a schematic diagram illustrating a control method for an electronic exterior rearview mirror provided in an embodiment of this application. Figure 3As shown, an electronic exterior rearview mirror system typically includes three components: an electronic exterior rearview camera, an electronic exterior rearview display screen, and an electronic exterior rearview controller. There is one electronic exterior rearview camera and one electronic exterior rearview display screen on each side. Common electronic exterior rearview mirror systems have two control schemes; for the first one, please refer to [link to relevant documentation]. Figure 3 (A) Two electronic exterior rearview cameras are connected to the same electronic exterior rearview controller via a coaxial cable, such as an LVDS harness. One electronic exterior rearview controller drives the left and right electronic exterior rearview displays to show images. For the second method, please refer to [link / reference]. Figure 3 (B) Two electronic rearview cameras are connected to two electronic rearview controllers via coaxial cables, such as LVDS harnesses. The two electronic rearview controllers drive the left and right electronic rearview displays to display images.

[0044] Therefore, when electronic exterior rearview mirrors malfunction, the source of the fault is generally the electronic exterior rearview camera or the electronic exterior rearview display screen. Thus, the fault source of the electronic exterior rearview mirror system fault signal is either a fault in the electronic exterior rearview camera or a fault in the electronic exterior rearview display screen. It should be noted that when the fault source is a fault in either the electronic exterior rearview camera or the electronic exterior rearview display screen, the electronic exterior rearview controller responds to the electronic exterior rearview mirror system fault signal and executes subsequent steps. However, in practical applications, there may also be situations where the electronic exterior rearview controller malfunctions. If the electronic exterior rearview controller malfunctions, other controllers in the vehicle, such as the vehicle controller, will directly control the vehicle based on the detection results from the rear corner detection device to ensure the user's driving safety.

[0045] Optionally, when a fault signal appears in the electronic exterior rearview mirror system, it indicates that the system is malfunctioning. This malfunction results in a missing view of the rearview image, and the location of the missing image is the fault location corresponding to the electronic exterior rearview mirror system. For example, if the fault signal indicates a malfunction in the electronic exterior rearview camera on the left side of the vehicle, then the left side of the vehicle is the fault location where the rearview image is missing. In special cases, if the fault signal indicates a malfunction in the electronic exterior rearview controller, then both the left and right sides of the vehicle are fault locations where the rearview image is missing. Therefore, when determining the rear corner detection device, parking detection device, and display screen corresponding to the electronic exterior rearview mirror system fault signal, the fault location can be determined based on the fault location indicated by the fault signal. This ensures that multiple detection devices and display screens at valid locations provide the user with the necessary information about the vehicle's surrounding environment.

[0046] S204. Determine the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and display the corresponding display content of the vehicle's surrounding environment information on a displayable screen.

[0047] Optionally, after determining the rear corner detection device, parking detection device, and display screen to be used, the rear corner detection device can collect rear corner environmental information behind the vehicle, and the parking detection device can collect side and rearward environmental information from the sides and rear of the vehicle. Based on the rear corner environmental information collected by the rear corner detection device and the side and rearward environmental information collected by the parking detection device, complete surrounding environment information can be determined. At this time, the controller receives the surrounding environment information and performs information analysis and preprocessing to determine the corresponding display content. For example, if there is a moving object, the corresponding pattern or animation is displayed; if there is a fixed obstacle, the corresponding icon and warning are displayed. In other words, after receiving the surrounding environment information, the corresponding content can be displayed on the display screen, allowing the user to understand the current vehicle status and facilitating vehicle control and driving.

[0048] This application provides an environmental information detection method. In response to a fault signal from an electronic rearview mirror system, the method determines the fault location corresponding to the fault signal, as well as the corresponding rear corner detection device, parking detection device, and displayable screen. Based on the rear corner environmental information collected by the rear corner detection device and the side-rear environmental information collected by the parking detection device, the method determines the vehicle's surrounding environmental information and displays the corresponding content on the displayable screen. Since the rear corner detection device and parking detection device installed on the vehicle body can detect objects and their distances in the vehicle's side-rear environment, when a fault signal from the electronic rearview mirror system occurs, the method can determine the required rear corner detection device to detect the vehicle's rear corner environmental information and the parking detection device to detect the vehicle's side-rear environmental information based on the fault location. This ensures that the vehicle's surrounding environmental information determined based on the rear corner and side-rear environmental information comprehensively includes the overall environmental information within a range behind the vehicle. Furthermore, displaying the corresponding content on the available display screen effectively assists users in safe vehicle control during rearview mirror malfunction scenarios, improving the reliability and safety of the vehicle's rearview system and ensuring user driving safety.

[0049] Please see Figure 4 , Figure 4 This is a flowchart illustrating an environmental information detection method provided in an embodiment of this application.

[0050] like Figure 4As shown, environmental information detection methods can include at least:

[0051] S402, In response to a fault signal from the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal from the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device, and display screen corresponding to the fault location.

[0052] For details regarding step S402, please refer to the description in step S202; it will not be repeated here.

[0053] S404. Determine the target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device, and determine the road width information around the vehicle based on the side and rear environmental information collected by the parking detection device.

[0054] Optionally, after determining the rear corner detection device, parking detection device, and display screen, the surrounding environment information of the vehicle can be further determined by fusing the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device. Since the rearview images collected by the electronic exterior rearview system are typically used to alert the user to object information and road width information to the side and rear of the vehicle, assisting the user in lane changes, forward movement, and reverse maneuvers, a malfunction signal in the electronic exterior rearview mirror system indicates that the user cannot obtain timely and accurate information about objects and road width around the vehicle, posing a significant safety hazard to the user's vehicle control.

[0055] Specifically, after using rear corner detection equipment and parking detection equipment to detect the environmental information around the vehicle, when the user learns about the current driving environment of the vehicle through the environmental information around the vehicle, it is necessary to determine the objects around the vehicle, such as vehicles, medians, pedestrians, etc., that is, the target object information around the vehicle, so as to facilitate vehicle control behaviors such as driving, reversing, and parking. It is also necessary to determine the road width information around the vehicle from the environment around the vehicle, so as to facilitate vehicle control behaviors such as changing lanes and turning.

[0056] Please see Figure 5 , Figure 5 This is a logical schematic diagram of an environmental information detection method provided in an embodiment of this application. Figure 5As shown, taking an electronic exterior rearview mirror system that controls two electronic exterior rearview cameras and two electronic exterior rearview displays through one electronic exterior rearview controller as an example, the electronic exterior rearview controller in the electronic exterior rearview mirror system sends the operating status information of the electronic exterior rearview mirror system to the rear corner radar controller of the rear corner detection module corresponding to the rear corner detection device, and sends the operating status information of the electronic exterior rearview mirror system to the parking controller of the parking detection module corresponding to the parking detection device. The operating status information specifically includes the status information of the electronic exterior rearview cameras, the status information of the electronic exterior rearview controller, and the status information of the electronic exterior rearview displays; among them, when a fault signal of the electronic exterior rearview mirror system occurs, the rear corner radar controller... The system uses the electronic exterior rearview mirror system fault signal in the working status information to determine the rear corner detection device that needs to be controlled. The rear corner detection device collects rear corner environmental information and sends it to the electronic exterior rearview controller. When the electronic exterior rearview mirror system fault signal occurs, the parking controller uses the electronic exterior rearview mirror system fault signal in the working status information to determine the parking detection device that needs to be controlled. The parking detection device collects side and rear environmental information and sends it to the electronic exterior rearview controller. The electronic exterior rearview controller determines the target object information around the vehicle based on the rear corner environmental information and the road width information around the vehicle based on the side and rear environmental information. Finally, the electronic exterior rearview controller controls the display screen to display the corresponding content.

[0057] In another feasible embodiment, there is a signal communication link between the electronic exterior rearview controller and the rear corner radar controller. The electronic exterior rearview controller sends the operating status information of the electronic exterior rearview mirror system to the rear corner radar controller. When a fault signal of the electronic exterior rearview mirror system occurs, the rear corner radar controller determines the rear corner detection device that needs to be controlled and collects rear corner environmental information through the rear corner detection device and sends it to the electronic exterior rearview controller. The rear corner radar controller then sends the electronic exterior rearview mirror system fault signal to the parking controller, so that the parking controller activates the parking detection device based on the electronic exterior rearview mirror system fault signal and collects side and rear environmental information through the parking detection device and sends it to the electronic exterior rearview controller.

[0058] Optionally, since the information on targets around the vehicle needs to be as accurate and complete as possible, it can include target type information, distance between the target and the vehicle, etc. In a preferred embodiment, the target around the vehicle and the distance between the target and the vehicle can be identified based on the rear corner environment information collected by the rear corner detection device. The rear corner detection device can be a millimeter-wave detection device, such as millimeter-wave radar. The vehicle's millimeter-wave radar usually has several functions: (1) Collision avoidance function: The vehicle's millimeter-wave radar can detect the distance and speed information of surrounding vehicles, pedestrians, obstacles and other objects to realize the collision avoidance function in the forward, backward and side directions. When the vehicle approaches its (1) Automatic parking function: When the vehicle is parked, the millimeter-wave radar can detect the distance and position information of surrounding objects to help the driver more accurately grasp the distance between the vehicle and the surrounding environment, thereby realizing the automatic parking function; (2) Automatic parking function: The vehicle millimeter-wave radar can detect the blind spot of the vehicle. When other vehicles or pedestrians enter the blind spot, the system will issue an alarm to remind the driver to pay attention; (3) Lane departure warning function: The vehicle millimeter-wave radar can monitor the vehicle's driving trajectory. When the vehicle deviates from the lane, the system will issue an alarm to remind the driver to adjust the vehicle's driving direction in time. The vehicle millimeter-wave radar can also be combined with other sensors, navigation systems and other technologies to realize more intelligent driving assistance functions, such as adaptive cruise control, traffic sign recognition, intelligent speed limit and so on.

[0059] Furthermore, millimeter-wave detection equipment can detect objects around a vehicle in the rear corner environment and the distance between the objects and the vehicle. When objects around a vehicle are present, it can identify the type of objects, such as pedestrians, vehicles, bicycles, roadblocks, etc., and calculate the distance between the objects and the vehicle based on the reflection of millimeter waves by the objects around the vehicle.

[0060] Furthermore, if the target objects around the vehicle are moving, their speed will affect the user's control of the vehicle's direction and speed. Therefore, if the speed of the target objects around the vehicle can be estimated when they are moving, and this estimated speed can be provided to the user for reference, it can further assist the user in controlling the vehicle safely. In calculating the speed, the speed can be calculated based on the change between two consecutive distances and the acquisition time. That is, in this embodiment of the application, the estimated speed of the target objects around the vehicle is calculated based on the change between two consecutive acquisition distances and the information acquisition frequency corresponding to the rear corner detection device.

[0061] Similarly, the direction of movement of objects around a moving vehicle will also affect the direction and speed of the vehicle controlled by the user. Therefore, the relative positions of objects around the vehicle and the vehicle's own driving speed can be detected by the rear corner detection device to determine the direction of movement of the objects around the vehicle. Based on the estimated direction of movement, alarms, prompts, and display screens can be provided to the user.

[0062] Optionally, for information on the width of the road surrounding the vehicle, ultrasonic detection equipment can be used as a parking detection device to collect side and rear environmental information. Specifically, the ultrasonic detection equipment can be ultrasonic radar, which detects the presence and distance of objects in the environment by emitting ultrasonic waves and receiving waves reflected from objects. The ultrasonic detection device probes are typically installed on both sides of the front and rear bumpers of the vehicle to facilitate all-around detection of the vehicle's surrounding environment. It should be noted that the specific ultrasonic detection device probes can be parking sensors (with a longer detection distance of approximately 5 meters) and / or collision avoidance sensors (with a shorter detection distance of approximately 3.5 meters). This application does not limit the specific type of ultrasonic detection device probe.

[0063] S406. By integrating information on targets around the vehicle and road width information around the vehicle, the environmental information surrounding the vehicle is obtained.

[0064] Optionally, after obtaining the information on targets around the vehicle and the width of the road around the vehicle, the information on targets around the vehicle and the width of the road around the vehicle can be fused to obtain the environmental information around the vehicle. The environmental information around the vehicle is the complete road condition information around the current vehicle, which can assist the user in safe vehicle control and make up for the lack of image in the electronic rearview mirror system.

[0065] S408. Based on the surrounding environment information of the vehicle, the target objects around the vehicle, the distance, and the estimated moving speed, determine the first display content and display the first display content on the displayable screen.

[0066] Optionally, the received information about the vehicle's surrounding environment includes objects around the vehicle, their distances, and estimated speeds. Since a displayable device has been identified through the aforementioned steps, the first display content can be determined based on the objects around the vehicle, their distances, and estimated speeds. The first display content can be animations, patterns, etc., corresponding to the types of objects around the vehicle, including displaying distances and estimated speeds in text or numerical form. This allows the user to more clearly understand the objects around the vehicle and their speeds and directions, facilitating safer vehicle control.

[0067] S410. Based on the vehicle control signal triggered by the vehicle control device and the road width around the vehicle in the vehicle's surrounding environment information, determine whether there is a risk of lane change. The vehicle control device includes at least one of the following: a steering lever, a steering wheel, and a headlight lever.

[0068] Optionally, since the electronic exterior rearview mirror system will lack some information about the vehicle's surroundings when it malfunctions, potentially jeopardizing the user's lane-changing safety, a warning or alert should be issued if the user intends to change lanes when the rearview mirror system fails. This means that the system first determines the risk of lane-changing by using vehicle control signals triggered by the vehicle control devices, such as turn signals, steering wheel, and headlight stalks.

[0069] S412. If there is a risk of lane change, a second display content is displayed on the display screen, and an alarm prompt corresponding to the second display content is issued.

[0070] Optionally, when there is a risk of lane change, a second display content is displayed on the display screen, and an alarm prompt corresponding to the second display content is issued. The lane change alarm content may be an animation, pattern, etc. related to the lane change action, and the lane change alarm prompt may be an alarm ringtone, voice broadcast, etc. This application embodiment does not limit this. Specifically, the second display content can show different effects and corresponding warning prompts based on the level of lane change safety risk. It determines whether there is sufficient road width around the vehicle for lane changing based on the surrounding road width. If there are no moving objects nearby and there is sufficient road width, the lane change safety risk is low, and the second display content can be a flashing green icon with a corresponding voice prompt. If there are no moving objects nearby and there is relatively wide road, the lane change safety risk is moderate, and the second display content can be a flashing yellow icon with a corresponding voice prompt. If there are no moving objects nearby and there is sufficient road width, the lane change safety risk is low, and the second display content can be a solid red icon with a warning bell sound. It can also include a steering wheel lock function, using the tactile feedback of the vehicle control device to alert the user to the current driving safety situation.

[0071] This application provides an environmental information detection method. Based on rear-angle environmental information collected by a rear-angle detection device, it determines target information around the vehicle, identifying targets in the rear-angle environment, the distance between the targets and the vehicle, and the estimated speed of the targets. Complete target information further assists the user in safe vehicle control. Based on side-rear environmental information collected by a parking detection device, it determines the road width around the vehicle, assisting the user in lane changing, forward movement, and reverse maneuvers. It integrates target information and road width information to obtain vehicle-surrounding environmental information, compensating for the lack of surrounding view information in electronic rearview mirror systems. Based on the target information, distance, and estimated speed of the targets in the surrounding environment, it determines a first display content, displays the first display content on a displayable screen, and if there is a risk of lane changing, displays a second display content on the displayable screen, and issues a warning corresponding to the second display content, allowing the user to more clearly know the objects behind the vehicle and predict their speed and direction.

[0072] Please see Figure 6 , Figure 6 This is a flowchart illustrating an environmental information detection method provided in an embodiment of this application.

[0073] like Figure 6 As shown, environmental information detection methods can include at least:

[0074] S602: Receives fault signals from the electronic exterior rearview mirror system and determines the current status of the vehicle.

[0075] Optionally, the parking detection equipment may also include a surround-view camera device, which is a camera installed close to the electronic rearview camera and with a viewing angle that tends to illuminate the ground. It is usually used in the parking detection module to acquire ground images and videos on both sides and behind the vehicle to assist users in reversing, parking and other vehicle control behaviors. Therefore, the surround-view camera device can be used to acquire images and videos of the ground around the vehicle.

[0076] Optionally, considering that when a user starts the vehicle from a parked state, the vehicle's environment may be a parking lot or parking space, where there are usually physical barriers such as green belts, walls, or railings next to the parking space. If there are physical barriers around the user when starting the vehicle, then controlling the vehicle is relatively safe. That is, in the event of a malfunction in the electronic exterior rearview mirror system, it is not necessary to activate the rear corner detection device and parking detection device to detect the environment. However, if the vehicle is in a parked state, then if the electronic exterior rearview mirror system malfunctions, it is necessary to activate the rear corner detection device and parking detection device to obtain information about the vehicle's surrounding environment. Based on this, when a malfunction signal from the electronic exterior rearview mirror system is received, the current state of the vehicle is first determined, and the activation of the rear corner detection device and parking detection device is determined according to the vehicle state, which can minimize the power consumption of the rear corner detection device and parking detection device to the vehicle.

[0077] S604. If the current state is driving, respond to the electronic exterior rearview mirror system fault signal.

[0078] Optionally, if the current state is a driving state, specifically when the vehicle is currently in a non-parking gear (P gear) and the vehicle speed is greater than a preset speed threshold, then the current state is considered a driving state. In this case, it is necessary to respond to the fault signal of the electronic exterior rearview mirror system, activate the parking detection equipment and the rear corner detection equipment, and provide the user with accurate information about the vehicle's surrounding environment in a timely manner to protect the user's driving safety. The parking detection equipment specifically includes at least an ultrasonic detection device and a surround-view camera device, and the rear corner detection equipment includes at least a millimeter-wave detection device. The preset speed threshold can be set to 5 km / h, 10 km / h, etc., and this embodiment does not limit this setting.

[0079] It should be noted that the current status is not judged once. After receiving a fault signal from the electronic rearview mirror system, a judgment is made every preset period according to a preset frequency, so as to ensure that the system can still respond to the fault signal of the electronic rearview mirror system in a timely manner while saving energy.

[0080] S606. If the current state is a pre-start state, determine whether there is a physical barrier at the fault location.

[0081] Optionally, if it is determined that the vehicle is in the process of gradually transitioning from a parked state to a driving state, i.e., a pre-starting state, specifically when the current vehicle speed is lower than the aforementioned preset vehicle speed threshold and the gear is out of parking gear (P gear), then it is necessary to determine whether there is a physical barrier at the fault location corresponding to the fault signal of the electronic exterior rearview mirror system.

[0082] In one feasible embodiment, the determination of a physical barrier is based on video information collected by the surround-view camera from the surrounding ground environment. This video information can be the ground environment video information collected by the surround-view camera before it went into sleep mode during the last parking session, or the ground environment video information collected by the surround-view camera after it was awakened during the current start-up. If the ground environment video information collected by the surround-view camera before it went into sleep mode is used for the determination, the surround-view camera can be set not to automatically start when the vehicle is awakened, but only to be activated in response to a fault signal from the electronic rearview mirror system. If the ground environment video information collected by the surround-view camera after it is awakened is used for the determination, the surround-view camera will automatically start when the vehicle is awakened. In this case, if a fault signal from the electronic rearview mirror system is subsequently received, only other detection devices need to be activated, and the surround-view camera does not need to be turned off or reactivated.

[0083] S608. If there is no physical barrier, respond to the electronic exterior rearview mirror system fault signal; if there is a physical barrier, do not respond to the electronic exterior rearview mirror system fault signal.

[0084] Optionally, if it is determined that there is no physical barrier, the system will still respond to the fault signal of the electronic exterior rearview mirror system, and activate, use, and acquire information from the rear corner detection device and parking detection device. If there is a physical barrier, the rearview fault information will be pre-processed, which may include not responding to the fault signal of the electronic exterior rearview mirror system and not activating the rear corner detection device and parking detection device.

[0085] S610, in response to a fault signal of the electronic exterior rearview mirror system, determines the fault location corresponding to the fault signal of the electronic exterior rearview mirror system, and determines at least one rear corner detection device and at least one parking detection device located on the same side of the fault location in the vehicle, and determines whether the electronic exterior rearview display screen on the same side corresponding to the fault location is operating normally. If the electronic exterior rearview display screen on the same side is operating normally, it is determined that the electronic exterior rearview display screen on the same side is a displayable screen.

[0086] Optionally, after responding to the electronic exterior rearview mirror system fault signal, the controller needs to determine the fault location of the electronic exterior rearview mirror system fault signal, and determine the corresponding rear corner detection device, parking detection device, and display screen based on the fault location. As described in the above embodiments, the electronic exterior rearview mirror system fault signal is emitted by a faulty device. The controller records the location of each device in its information, so in response to the electronic exterior rearview mirror system fault signal, it can simultaneously determine the fault location corresponding to the fault signal. Specifically, the device's location information refers to its position on the side of the vehicle, such as on the left or right side.

[0087] Optionally, if there is a lack of information about the vehicle's surrounding environment on the side where the electronic exterior rearview mirror system fault signal occurs, then when using rear corner detection equipment and parking detection equipment to collect information, at least the vehicle's surrounding environment information on the same side as the fault is required. That is, after determining the fault location corresponding to the electronic exterior rearview mirror system fault signal, at least one rear corner detection equipment and at least one parking detection equipment located on the same side of the fault location in the vehicle need to be identified as detection equipment for detecting the vehicle's surrounding environment information.

[0088] Optionally, when determining the displayable device, considering that the in-vehicle display screens include the electronic exterior rearview displays on both sides and the central control display screen, and that the electronic exterior rearview displays are usually only used to display the rear view on the corresponding side, while the central control display screen is used to display the in-vehicle terminal interface, in order to reduce the impact of the faulty side on the display of other display screens, it can be first determined whether the electronic exterior rearview display on the same side corresponding to the fault location is operating normally. If the electronic exterior rearview display on the same side is operating normally, for example, if the fault type of the electronic exterior rearview mirror system fault signal is electronic exterior rearview camera fault, it means that the electronic exterior rearview display and the electronic exterior rearview controller are intact at this time. That is, the electronic exterior rearview controller can normally receive signals and send them to the electronic exterior rearview display for display. At this time, it can be determined that the electronic exterior rearview display on the same side is a displayable screen.

[0089] S612. If the same-side electronic rearview display screen cannot operate normally, determine whether the non-same-side electronic rearview display screen corresponding to the fault location is operating normally.

[0090] Optionally, if the same-side electronic rearview display screen cannot operate normally, for example, if the fault type of the electronic rearview mirror system fault signal is electronic rearview display screen fault, it means that the electronic rearview display screen cannot display normally at this time. Then it is necessary to further determine whether the non-same-side electronic rearview display screen corresponding to the fault location is operating normally, that is, to determine whether the non-same-side electronic rearview display screen corresponding to the fault location can be used as a display screen.

[0091] S614. If the non-same-side electronic rearview display screen is operating normally, then the non-same-side electronic rearview display screen is determined to be a displayable screen.

[0092] Optionally, if the non-same-side electronic rearview display screen is operating normally, it can be determined as a displayable screen. When using the non-same-side electronic rearview display screen to display the content corresponding to the second rear corner environmental information on the faulty side, specifically, a portion of the display area can be partitioned off from the non-same-side electronic rearview display screen to display the content of the faulty side without affecting the original display content on the non-same-side electronic rearview display screen. Alternatively, if the non-same-side electronic rearview display screen is not operating normally, it can be further determined whether the central control display screen is operating normally. If the central control display screen is operating normally, it can be directly used as a displayable screen, with a portion of its area partitioned off to display the content corresponding to the rear view environment.

[0093] S616. Determine the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and display the corresponding display content of the vehicle's surrounding environment information on a displayable screen.

[0094] For details regarding step S616, please refer to step S204; it will not be repeated here.

[0095] This application provides an environmental information detection method that receives a fault signal from an electronic rearview mirror system and determines the vehicle's current state. If the current state is driving, the method responds to the electronic rearview mirror system fault signal. If the current state is pre-starting, the method determines whether there is a physical barrier at the fault location. If there is no physical barrier, the method responds to the electronic rearview mirror system fault signal; if there is a physical barrier, the method performs preset processing on the rearview fault information. By analyzing various scenarios such as pre-starting, driving, and the presence or absence of physical barriers, the method can promptly respond to the electronic rearview mirror system fault signal when detection equipment is needed, and reduce the power consumption of detection equipment when it is not needed, thus improving the user experience. Furthermore, by minimizing the impact on other normally displayed content, the method selects a suitable normally operating display screen as the displayable screen, which can improve the reliability and safety of the vehicle's rearview system in rearview fault scenarios, ensuring user driving safety.

[0096] Please see Figure 7 , Figure 7 This is a structural block diagram of an environmental information detection device provided in an embodiment of this application. Figure 7 As shown, the environmental information detection device 700 includes:

[0097] The detection device determination module 710 is used to respond to the fault signal of the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal of the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device and display screen corresponding to the fault location.

[0098] The environmental information display module 720 is used to determine the environmental information around the vehicle based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and to display the corresponding display content of the environmental information around the vehicle on a displayable screen.

[0099] Optionally, the environmental information display module 720 is also used to determine the target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device, and to determine the road width information around the vehicle based on the side and rear environmental information collected by the parking detection device; and to obtain the vehicle surrounding environmental information by fusing the target information around the vehicle and the road width information around the vehicle.

[0100] Optionally, the environmental information display module 720 is also used to identify targets around the vehicle in the rear corner environment and the distance between the targets around the vehicle and the vehicle based on the rear corner environmental information collected by the rear corner detection device; and to calculate the estimated moving speed of the targets around the vehicle based on the distance change between two consecutive collections and the information collection frequency corresponding to the rear corner detection device.

[0101] Optionally, the environmental information display module 720 is further configured to determine the first display content based on the target objects around the vehicle, the distance, and the estimated moving speed in the vehicle's surrounding environmental information, and display the first display content on the displayable screen.

[0102] Optionally, the environmental information display module 720 is also used to determine whether there is a risk of lane change based on the vehicle control signal triggered by the vehicle control device and the road width around the vehicle in the vehicle's surrounding environment information. The vehicle control device includes at least one of a steering lever, a steering wheel, and a headlight lever. If there is a risk of lane change, a second display content is displayed on the displayable screen, and an alarm prompt corresponding to the second display content is issued.

[0103] Optionally, the environmental information detection device 700 further includes: an environmental state determination module, used to receive the electronic exterior rearview mirror system fault signal and determine the current state of the vehicle; if the current state is driving, it responds to the electronic exterior rearview mirror system fault signal; if the current state is pre-starting, it determines whether there is a physical barrier at the fault location; if there is no physical barrier, it responds to the electronic exterior rearview mirror system fault signal; if there is a physical barrier, it does not respond to the electronic exterior rearview mirror system fault signal.

[0104] Optionally, the detection device determination module 710 is further configured to determine at least one rear corner detection device and at least one parking detection device located on the same side of the fault location in the vehicle, and to determine whether the electronic exterior rearview display screen on the same side corresponding to the fault location is operating normally. If the electronic exterior rearview display screen on the same side is operating normally, then the electronic exterior rearview display screen on the same side is determined to be a displayable screen. If the electronic exterior rearview display screen on the same side is not operating normally, then it is determined whether the electronic exterior rearview display screen on the opposite side corresponding to the fault location is operating normally. If the electronic exterior rearview display screen on the opposite side is operating normally, then the electronic exterior rearview display screen on the opposite side is determined to be a displayable screen.

[0105] In this embodiment of the application, an environmental information detection device is provided, wherein the detection device determination module is used to determine the fault location corresponding to the electronic exterior rearview mirror system fault signal and determine the rear corner detection device, parking detection device and displayable screen corresponding to the fault location in response to the electronic exterior rearview mirror system fault signal; the environmental information display module is used to determine the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and to display the display content corresponding to the vehicle's surrounding environment information on the displayable screen. Since the rear corner detection and parking detection devices installed on the vehicle body can detect objects and their distances in the surrounding environment to the side and rear of the vehicle, when a fault signal occurs in the electronic exterior rearview mirror system, the rear corner detection device to be used can be determined based on the fault location, and the parking detection device can be determined to detect the surrounding environment to the side and rear of the vehicle. In this way, the surrounding environment information determined based on the rear corner and side and rear environment information can completely include the overall environmental information within a certain range to the side and rear of the vehicle. Furthermore, the display content corresponding to the surrounding environment information can be displayed on an available display screen, which can effectively assist users in safe vehicle control in rearview failure scenarios, improve the reliability and safety of the vehicle's rearview system, and ensure the driving safety of users.

[0106] This application also provides a computer storage medium that can store multiple instructions adapted for loading by a processor and executing the steps of any of the methods described in the above embodiments.

[0107] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Figure 8 As shown, vehicle 800 may include: at least one vehicle processor 801, at least one network interface 804, user interface 803, memory 805, and at least one communication bus 802.

[0108] The communication bus 802 is used to enable communication between these components.

[0109] The user interface 803 may include a display screen and a camera. Optionally, the user interface 803 may also include a standard wired interface and a wireless interface.

[0110] The network interface 804 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0111] The vehicle processor 801 may include one or more processing cores. The vehicle processor 801 connects to various parts within the vehicle 800 using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 805, and by calling data stored in the memory 805. Optionally, the vehicle processor 801 may be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The vehicle processor 801 may integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the vehicle processor 801.

[0112] The memory 805 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 805 may include a non-transitory computer-readable storage medium. The memory 805 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 805 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 805 may also be at least one storage device located remotely from the aforementioned vehicle processor 801. Figure 8 As shown, the memory 805, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an environmental information detection program.

[0113] exist Figure 8 In the vehicle 800 shown, the user interface 803 is mainly used to provide an input interface for the user and to acquire user input data; while the vehicle processor 801 can be used to call the environmental information detection program stored in the memory 805 and specifically perform the following operations:

[0114] In response to a fault signal from the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal and determine the rear corner detection device, parking detection device, and display screen corresponding to the fault location.

[0115] The vehicle's surrounding environment information is determined based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and the corresponding display content is displayed on the displayable screen.

[0116] In some embodiments, when the vehicle processor 801 determines the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, it specifically performs the following steps: determining the target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device, determining the road width information around the vehicle based on the side and rear environmental information collected by the parking detection device, and fusing the target information around the vehicle and the road width information around the vehicle to obtain the vehicle's surrounding environment information.

[0117] In some embodiments, when the vehicle processor 801 determines the target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device, it specifically performs the following steps: identifying the target objects around the vehicle in the rear corner environment and the distance between the target objects and the vehicle based on the rear corner environmental information collected by the rear corner detection device; calculating the estimated moving speed of the target objects around the vehicle based on the distance change between two consecutive distances collected and the information collection frequency corresponding to the rear corner detection device.

[0118] In some embodiments, when the vehicle processor 801 executes the following steps when displaying display content corresponding to the vehicle's surrounding environment information on a displayable screen: determining the first display content based on the target objects around the vehicle, their distances, and the estimated moving speed in the vehicle's surrounding environment information, and displaying the first display content on the displayable screen.

[0119] In some embodiments, when the vehicle processor 801 executes the display content corresponding to the vehicle's surrounding environment information displayed on the displayable screen, it specifically performs the following steps: determining whether there is a lane change risk based on the vehicle control signal triggered by the vehicle control device and the width of the road around the vehicle in the vehicle's surrounding environment information, wherein the vehicle control device includes at least one of a steering lever, a steering wheel, and a headlight lever; if there is a lane change risk, displaying second display content on the displayable screen and issuing an alarm prompt corresponding to the second display content.

[0120] In some embodiments, before executing the response to the electronic exterior rearview mirror system fault signal, the vehicle processor 801 further performs the following steps: receiving the electronic exterior rearview mirror system fault signal and determining the current state of the vehicle; if the current state is a driving state, then responding to the electronic exterior rearview mirror system fault signal; if the current state is a pre-start state, then determining whether there is a physical barrier at the fault location; if there is no physical barrier, then responding to the electronic exterior rearview mirror system fault signal, and if there is a physical barrier, then not responding to the electronic exterior rearview mirror system fault signal.

[0121] In some embodiments, when the vehicle processor 801 executes the steps of determining the rear corner detection device, parking detection device, and displayable screen corresponding to the fault location, it specifically performs the following steps: determining at least one rear corner detection device and at least one parking detection device located on the same side of the fault location in the vehicle, and determining whether the electronic exterior rearview display screen on the same side corresponding to the fault location is operating normally; if the electronic exterior rearview display screen on the same side is operating normally, then determining that the electronic exterior rearview display screen on the same side is a displayable screen; if the electronic exterior rearview display screen on the same side is not operating normally, then determining whether the electronic exterior rearview display screen on the opposite side corresponding to the fault location is operating normally; if the electronic exterior rearview display screen on the opposite side is operating normally, then determining that the electronic exterior rearview display screen on the opposite side is a displayable screen.

[0122] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0123] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0124] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The aforementioned available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0125] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0126] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0127] The above is a description of an environmental information detection method, device, storage medium, and vehicle provided in this application. For those skilled in the art, based on the ideas of the embodiments of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An environmental information detection method, characterized in that, The method includes: In response to a fault signal from the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal from the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device, and display screen corresponding to the fault location; Based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, the vehicle's surrounding environment information is determined, and the display content corresponding to the vehicle's surrounding environment information is displayed on the displayable screen. The determination of the vehicle's surrounding environment information based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device includes: Based on the rear corner environmental information collected by the rear corner detection device, the target information around the vehicle is determined, and based on the side and rear environmental information collected by the parking detection device, the road width information around the vehicle is determined. The vehicle's surrounding environment information is obtained by fusing information about targets around the vehicle and information about the width of roads around the vehicle.

2. The method according to claim 1, characterized in that, The determination of target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device includes: Based on the rear corner environmental information collected by the rear corner detection device, identify the targets around the vehicle in the rear corner environment and the distance between the targets around the vehicle and the vehicle. Based on the change in distance between two consecutive measurements and the information collection frequency corresponding to the rear corner detection device, the estimated moving speed of the target objects around the vehicle is calculated.

3. The method according to claim 2, characterized in that, The display content corresponding to the vehicle's surrounding environment information displayed on the displayable screen includes: The first display content is determined based on the target objects around the vehicle, the distance, and the estimated moving speed in the vehicle's surrounding environment information, and then displayed on the displayable screen.

4. The method according to claim 1, characterized in that, The display content corresponding to the vehicle's surrounding environment information displayed on the displayable screen includes: The vehicle control device determines whether there is a risk of lane change based on the vehicle control signal triggered by the vehicle control device and the road width around the vehicle in the vehicle's surrounding environment information. The vehicle control device includes at least one of a steering lever, a steering wheel, and a headlight lever. If the lane change risk exists, a second display content will be displayed on the displayable screen, and an alarm prompt corresponding to the second display content will be issued.

5. The method according to claim 1, characterized in that, Prior to responding to a fault signal in the electronic exterior rearview mirror system, the method further includes: Receive fault signals from the electronic exterior rearview mirror system to determine the current status of the vehicle; If the current state is a driving state, then respond to the electronic exterior rearview mirror system fault signal; If the current state is a pre-start state, then determine whether there is a physical barrier at the fault location; If the physical barrier does not exist, the system will respond to the electronic exterior rearview mirror system fault signal; if the physical barrier exists, the system will not respond to the electronic exterior rearview mirror system fault signal.

6. The method according to claim 1, characterized in that, The rear corner detection device, parking detection device, and display screen corresponding to the fault location include: Identify at least one rear corner detection device and at least one parking detection device located on the same side of the fault location in the vehicle, and determine whether the electronic exterior rearview display screen on the same side corresponding to the fault location is operating normally. If the electronic exterior rearview display screen on the same side is operating normally, then determine that the electronic exterior rearview display screen on the same side is a displayable screen. If the same-side electronic rearview display screen cannot operate normally, then determine whether the non-same-side electronic rearview display screen corresponding to the fault location is operating normally; If the non-same-side electronic rearview display screen is operating normally, then the non-same-side electronic rearview display screen is determined to be a displayable screen.

7. An environmental information detection device, characterized in that, The device includes: The detection device determination module is used to respond to the fault signal of the electronic exterior rearview mirror system, determine the fault location corresponding to the fault signal of the electronic exterior rearview mirror system, and determine the rear corner detection device, parking detection device and display screen corresponding to the fault location; An environmental information display module is used to determine the environmental information around the vehicle based on the rear corner environmental information collected by the rear corner detection device and the side and rear environmental information collected by the parking detection device, and to display the display content corresponding to the environmental information around the vehicle on the displayable screen. The environmental information display module is also used to determine the target information around the vehicle based on the rear corner environmental information collected by the rear corner detection device, and to determine the road width information around the vehicle based on the side and rear environmental information collected by the parking detection device; and to obtain the vehicle surrounding environmental information by fusing the target information around the vehicle and the road width information around the vehicle.

8. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the steps of the method as described in any one of claims 1 to 6.

9. A vehicle, characterized in that, The vehicle is capable of performing the steps of the method as described in any one of claims 1 to 6.

Images