A rearview mirror adjustment method and system

Abstract

This application relates to a rearview mirror adjustment method and system, comprising: adjusting the rearview mirror surface when the angle σ between the first straight line formed by the identification point at the rear of the trailer and the center point of the camera and the optical axis of the camera is less than a critical angle σ0, so that the identification point at the rear of the trailer is located within the rearview mirror's field of view; wherein the camera is mounted on the rearview mirror's mounting bracket, and the camera and the rearview mirror are in their respective designed positions; obtaining the critical angle σ0 based on a standard critical angle σ1 and a revised value, wherein the standard critical angle σ1 is the angle between the first straight line and the optical axis of the camera when the trailer is deflected relative to the cab until it coincides with the outer boundary of the rearview mirror's field of view. In this invention, the camera captures the identification point at the rear of the trailer in real time while the vehicle is moving, and obtains the angle σ between the first straight line and the camera's optical axis; when σ is less than the critical angle σ0, the rearview mirror surface is adjusted to ensure that the rearview mirror's field of view covers the rear of the trailer.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular to a rearview mirror adjustment method and system. Background Technology

[0002] Rearview mirrors are an important safety component of automobiles and one of the most important ways for drivers to obtain indirect vision. When designing the layout of rearview mirrors, it is necessary to consider whether the field of vision meets the regulatory requirements and whether it can meet the requirements of safe driving to the greatest extent.

[0003] Existing vehicles equipped with traditional physical rearview mirrors, especially long trucks or buses, often lack a clear view of the rear of the vehicle when turning, creating blind spots that compromise driving safety. Furthermore, calculating the trailer's steering angle using the truck's tractor steering wheel and determining the mirror's steering angle based on the difference between the two is problematic. Differences in tire wear, road friction coefficients, and turning angles can lead to understeer or oversteer on both the tractor and trailer wheels, resulting in insufficient accuracy in the mirror's steering response and further compromising safety. Additionally, if a truck chassis is used with different trailers, variations in wheelbase, width, and length will affect the range of the trailer's rear blind spot, preventing the mirror's rotation from accurately covering this blind spot and compromising driving safety. Summary of the Invention

[0004] This application provides a rearview mirror adjustment method and system to solve the problem in related technologies where a blind spot is formed when viewing the rear of a vehicle through a rearview mirror, affecting driving safety.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, a rearview mirror adjustment method is provided, comprising: when the angle σ between the first straight line formed by the identification point at the rear of the trailer and the center point of the camera and the optical axis of the camera is less than the critical angle σ0, adjusting the mirror surface of the rearview mirror so that the identification point at the rear of the trailer is located within the field of view of the rearview mirror;

[0006] The camera is mounted on the mounting bracket of the rearview mirror, and the camera and the rearview mirror are in their respective designed positions. Based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line and the optical axis of the camera when the trailer deflects to the point that the first straight line coincides with the outer boundary of the rearview mirror's field of view relative to the cab.

[0007] In some embodiments, the revision value is 0 or not equal to 0.

[0008] In some embodiments, the critical angle σ0 is the sum of the standard critical angle σ1 and the revised value.

[0009] In some embodiments, obtaining the standard critical angle σ1 specifically includes the following steps:

[0010] An identification point is installed at the rear of the trailer, and a camera is used for identification to complete the calibration of the rear of the trailer and obtain the length Lx from the camera to the rear of the trailer along the length of the trailer.

[0011] Based on Lx, the standard critical angle σ1 is obtained.

[0012] In some embodiments, an identification point is installed at the rear of the trailer, and a camera is used for identification to complete the calibration of the trailer rear, specifically including:

[0013] Align the trailer and cab into a straight line, and install identification points at the rear of the trailer;

[0014] The identification point is captured using a camera, and the trailer tail calibration is completed when the identification point is captured.

[0015] In some embodiments, obtaining the length Lx from the camera to the rear of the trailer along the trailer length direction specifically includes:

[0016] Based on W1, W2, θ1, θ3, and θ2, obtain the length Lx from the camera to the rear of the trailer;

[0017] Where W1 is the distance from the camera to the outer surface of the vehicle;

[0018] W2 is the distance from the calibration point to the outermost width of the vehicle when calibrating the rearview mirrors and cameras;

[0019] θ1 is the angle between the camera at the front of the trailer and the camera at the rear of the trailer along the length of the trailer.

[0020] θ2 is the angle between the camera's optical axis and the calibration point from the camera to the rearview mirror and the camera.

[0021] θ3 is the angle between the camera's optical axis and the recognition point from the camera to the rear of the trailer.

[0022] In some embodiments, the rearview mirror adjustment method further includes the step of adjusting the rearview mirror to its designed position;

[0023] This step specifically includes:

[0024] Drive the vehicle into the designated location within the vehicle's calibrated area;

[0025] Adjust the rearview mirror so that the calibration point within the vehicle's calibration area is within the rearview mirror's field of view;

[0026] After completion, the initial position of the sight glass surface is calibrated.

[0027] In some embodiments, the rearview mirror adjustment method further includes the step of adjusting the camera to its designed position;

[0028] This step specifically includes:

[0029] Drive the vehicle into the designated location within the vehicle's calibrated area;

[0030] Adjust the camera so that it captures the calibration points within the vehicle's calibration area;

[0031] Obtain the relative coordinates of the camera in the driver's cab;

[0032] Based on the relative coordinates of the camera in the cab, θ1, θ3, and θ2 are obtained;

[0033] Complete the initial position calibration of the camera.

[0034] In some embodiments, the rearview mirror includes: a mirror adjustment motor and a rearview mirror surface;

[0035] Adjusting the rearview mirror involves the following steps:

[0036] The control system issues a mirror adjustment command;

[0037] The mirror adjustment motor receives the mirror adjustment command and drives the rearview mirror to adjust.

[0038] Secondly, a rearview mirror adjustment system is provided, comprising:

[0039] The first module is used to adjust the rearview mirror surface so that the identification point at the rear of the trailer is located within the rearview mirror's field of view when the angle σ between the first straight line formed by the identification point at the rear of the trailer and the center point of the camera and the optical axis of the camera is less than the critical angle σ0.

[0040] The camera is mounted on the mounting bracket of the rearview mirror, and the camera and the rearview mirror are in their respective designed positions. Based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line and the optical axis of the camera when the trailer deflects to the point that the first straight line coincides with the outer boundary of the rearview mirror's field of view relative to the cab.

[0041] The beneficial effects of the technical solution provided in this application include:

[0042] This application provides a rearview mirror adjustment method and system. When the vehicle is in motion, the camera captures the identification point at the rear of the trailer in real time and obtains the angle σ between the first straight line and the optical axis of the camera. When σ is less than the critical angle σ0, the rearview mirror is adjusted to ensure that the rearview mirror's field of view covers the rear of the trailer and eliminates the blind spot at the rear of the trailer. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0044] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of this application;

[0045] Figure 2 A schematic diagram showing the angle between the center of the camera's optical axis and the rear of the vehicle, provided in an embodiment of this application.

[0046] Figure 3 This is a schematic diagram of the overall structure of the existing technology;

[0047] Figure 4 This is a schematic diagram of the overall structure of the existing technology;

[0048] Figure 5 This is a schematic diagram of the overall structure of the existing technology;

[0049] Figure 6 This is a schematic diagram of the overall structure provided for an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of the rearview mirror structure provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of the vehicle calibration area provided in the embodiments of this application;

[0052] Figure 9 This is a schematic diagram of the overall structure provided for an embodiment of this application;

[0053] Figure 10 This is a schematic diagram of the overall structure provided for an embodiment of this application;

[0054] Figure 11 This is a schematic diagram of the overall structure provided for an embodiment of this application.

[0055] In the diagram: 1. Rearview mirror; 10. Rearview mirror surface; 11. Mounting bracket; 2. Camera; 20. Camera optical axis; 3. Vehicle central control display screen; 4. Identification point; 5. Calibration point; 6. Trailer; 7. Cab; 8. Rearview mirror field of view; 9. First straight line. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of 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, 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.

[0057] This application provides a rearview mirror adjustment method and system, which can solve the problem in related technologies where a blind spot is formed when the rear of a vehicle is seen through the rearview mirror, affecting driving safety.

[0058] The rearview mirror 1 is an important safety component of a car and is one of the most important ways for drivers to obtain indirect vision. When designing the layout of the rearview mirror 1, it is necessary to consider whether the field of vision meets the regulatory requirements and whether it can meet the requirements of safe driving to the greatest extent.

[0059] In existing vehicles equipped with traditional physical rearview mirrors 1, especially long trucks or buses, drivers cannot see the rear area of ​​the vehicle through the rearview mirror 1 when turning, creating a blind spot and affecting driving safety. The steering angle of the trailer 6 is calculated by using the steering wheels of the truck tractor, and the steering angle of the mirror 10 is determined by the difference between the two. Due to differences in tire wear, road friction coefficient, and turning angle, both the steering wheels and the trailer 6 wheels experience varying degrees of understeer or oversteer, resulting in insufficient accuracy of the mirror 10's steering, further affecting driving safety. If a truck tractor chassis needs to be matched with different trailers 6, the differences in wheelbase, width, and length parameters of the trailers 6 will affect the range of the trailer's rear turning blind spot, causing the mirror 10's rotated field of vision area 8 to not accurately cover the trailer 6's rear blind spot, thus compromising driving safety.

[0060] To address the problem that a blind spot is created when viewing the rear of a vehicle through the rearview mirror 1, affecting driving safety, this application provides a rearview mirror adjustment method, which includes:

[0061] 101: When the angle σ between the first straight line 9 formed by the identification point 4 at the rear of the trailer 6 and the center point of the camera 2 and the optical axis 20 of the camera is less than the critical angle σ0, adjust the rearview mirror 10 so that the identification point 4 at the rear of the trailer 6 is located within the rearview mirror's field of view 8.

[0062] Among them, the camera 2 is mounted on the mounting bracket 11 of the rearview mirror 1, and the camera 2 and the rearview mirror 1 are in their respective designed positions; based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line 9 and the optical axis 20 of the camera when the trailer 6 is deflected relative to the cab 7 and the first straight line 9 coincides with the outer boundary of the field of view of the rearview mirror 1.

[0063] In this application, when the vehicle is in motion, the camera 2 captures the identification point 4 at the rear of the trailer 6 in real time and obtains the angle σ between the first straight line 9 and the camera optical axis 20. When σ is less than the critical angle σ0, the rearview mirror 10 is adjusted to ensure that the field of view of the rearview mirror 10 covers the rear of the trailer 6 and eliminates the blind spot at the rear of the trailer 6.

[0064] In this embodiment, the rearview mirror 1 includes a mirror frame, a mirror adjustment motor, a rearview mirror surface 10, and a mounting bracket 11. The mirror adjustment motor and the rearview mirror surface 10 are mounted on the mirror frame. The mirror adjustment motor is connected to the rearview mirror surface 10 and is used to control the adjustment of the position and attitude of the rearview mirror surface 10. The mounting bracket 11 is fixed to the mirror frame, and the rearview mirror 1 is connected to the surface of the driver's cab 7 through the mounting bracket 11. A camera 2 is mounted on the mounting bracket 11.

[0065] Based on the above embodiments, in this embodiment, the revision value is 0 or not equal to 0.

[0066] In this embodiment, considering the differences in driving habits among different drivers when observing the rearview mirror 1, the user can access the vehicle central control display screen 3 located in the driver's cab 7 and click on the rearview mirror automatic adjustment function definition interface on the screen of the vehicle central control display screen 3. The user can appropriately reduce or increase the size of σ1 based on the standard critical angle σ1 to achieve a state that better suits their driving habits. The value of reducing or increasing the standard critical angle σ1 is the revision value, which is not equal to 0. If the standard critical angle σ1 suits the driver's driving habits, there is no need to adjust the size of σ1, and the revision value is 0.

[0067] Furthermore, the critical angle σ0 is the sum of the standard critical angle σ1 and the revised value. That is, when the size of σ1 is reduced, the revised value is negative, and the standard critical angle σ1 + the revised value = the critical angle σ0; when the size of σ1 is reduced, the revised value is positive, and the standard critical angle σ1 + the revised value = the critical angle σ0.

[0068] Based on the above embodiments, in this implementation, obtaining the standard critical angle σ1 specifically includes the following steps:

[0069] 201: Install identification point 4 at the rear of trailer 6 and use camera 2 for identification to complete the calibration of the rear of trailer 6 and obtain the length Lx from camera 2 to the rear of trailer 6 along the length direction of trailer 6.

[0070] 202: Based on Lx, obtain the standard critical angle σ1.

[0071] It should be noted that, Figure 9 , Figure 10 and Figure 11 In the diagram, LS is the outer boundary line of the rearview mirror's field of view area 8; Q is the critical point where the rearview mirror 1 can see the rear of the trailer 6; LF is the line connecting the center of the camera 2 and the critical point where the rearview mirror 1 can see the rear of the trailer 6.

[0072] After a user purchases a truck tractor and attaches trailer 6 to the tractor chassis, the rear of trailer 6 must be calibrated before the vehicle is put into operation. Identification point 4 is installed at the rear of trailer 6, and camera 2 is used for identification to complete the calibration. Specifically, this involves: first, aligning trailer 6 and cab 7 into a straight line, and installing identification point 4 at the rear of trailer 6; then, using camera 2 to capture identification point 4. When identification point 4 is captured, the calibration of the rear of trailer 6 is complete.

[0073] The identification point 4 is a calibration identification block installed on one side of the rear of the trailer 6. The color and pattern of the calibration identification block are colors and patterns that are easily recognizable by the camera 2. It is usually a long strip of red block with a length of 200mm, a width of 20mm, and a thickness of 5mm. The calibration identification block is fixed to the side of the rear of the trailer 6, with the long side of the identification block flush with the rear of the trailer 6 and the wide side flush with the bottom of the trailer 6.

[0074] The calibration identification block can be fixed in several ways: if the trailer 6 is made of metal, it is fixed by magnetic strip adsorption; if the rear of the vehicle is made of non-metallic material, it can be fixed by one or more methods such as screwing, hook and loop fasteners, or adhesive. When the user replaces the trailer 6, the calibration identification block needs to be removed, fixed to the trailer 6 of the vehicle being used, and the rear of the trailer 6 needs to be recalibrated.

[0075] There are two calibration methods for the rear calibration of trailer 6: manual calibration and automatic calibration.

[0076] During automatic calibration, the trailer 6 and cab 7 of the vehicle are first aligned so that they are in a straight line. This straight line means that the centerline of the trailer 6 and the centerline of the cab 7 are coaxial. Then, the vehicle's central control display screen 3 is clicked to enter the calibration interface for the rear of the trailer 6. Then, the automatic calibration option is selected. The camera 2 automatically identifies the rear of the trailer 6 through the image algorithm preset in the ECU (Electronic Control Unit). This identification means that the camera 2 captures the rear of the trailer 6 and obtains the relative position parameters between the camera 2 and the rear of the trailer 6. Recognition point 4 may not be set at the rear of trailer 6. However, to improve the success rate of automatic calibration, the user can fix recognition point 4 at the lower end of the rear of trailer 6. Camera 2 will automatically capture recognition point 4, thus confirming that camera 2 has recognized the rear of trailer 6. When recognition is successful, a green box will display the area of ​​recognition point 4, indicating successful recognition. That is, when a green boundary box is displayed on the vehicle central control display screen 3 at the rear of trailer 6, click the calibration confirmation button on the vehicle central control display screen 3. When the vehicle central control display screen 3 prompts that the calibration is successful, it means that the rear of trailer 6 has been calibrated successfully.

[0077] If the appearance of the rear of the user's trailer 6 is different from that of trailer 6 on the market, or due to weather, environment or other reasons, the camera 2 may not be able to automatically recognize the rear of the trailer 6 and the recognition point 4. In this case, it can be calibrated manually.

[0078] The manual calibration method is as follows: First, fix the identification point 4 at the rear of the trailer 6; then align the trailer 6 and the cab 7 of the vehicle to form a straight line; then click on the vehicle's central control display screen 3 to enter the calibration interface for the rear of the trailer 6; next, select the manual calibration option, and the image obtained by the camera 2 will be displayed on the vehicle's central control display screen 3. Select the identification point 4 at the rear of the trailer 6 on the vehicle's central control display screen 3, and click the OK button. When the vehicle's central control display screen 3 prompts that the calibration is successful, it means that the rear of the trailer 6 has been successfully calibrated.

[0079] Once the automatic or manual calibration is complete, the system can accurately calculate the length Lx from camera 2 to the rear of trailer 6.

[0080] Specifically, the length Lx from camera 2 to the rear of trailer 6 along the length of trailer 6 is obtained, including:

[0081] 301: Based on W1, W2, θ1, θ3, and θ2, obtain the length Lx from camera 2 to the rear of trailer 6.

[0082] Among them, such as Figure 1As shown, W1 is the distance from camera 2 to the outer surface of the vehicle, where the outer surface refers to the outer surface at the widest point of the vehicle. W1 refers to the length from camera 2 to the outer surface at the widest point of the cab 7 along the width direction of trailer 6; W2 is the distance from calibration point 5 when calibrating rearview mirror 1 and camera 2 to the outermost width of the vehicle, where the outermost width refers to the outer surface at the widest point of the vehicle. W2 refers to the distance from calibration point 5 when calibrating rearview mirror 1 and camera 2 along the width direction of trailer 6 to the outermost width of the vehicle; θ1 is the angle between camera 2 and the front end of trailer 6 and camera 2 and the rear end of trailer 6 along the length direction of trailer 6; θ2 is the angle between the camera optical axis 20 and camera 2 and calibration point 5 when calibrating rearview mirror 1 and camera 2; θ3 is the angle between the camera optical axis 20 and the recognition point 4 at the rear end of trailer 6.

[0083] The database inside the control system contains parameter values ​​such as W1, W2, W3, W4, θ1, θ2, θ3, θ4, L1, L2, and L4. L1 is the distance from camera 2 to the center of the trailer 6 saddle; θ4 is the angle between the outer boundary of the rearview mirror 1's field of view and the inner calibration point 5 of the field of view; W3 is the width of trailer 6; W4 is the distance from the outer boundary of the rearview mirror 10 to the outer surface of the widest part of the vehicle; L4 is the longitudinal distance from the boundary of the rearview mirror 10 to the center of the trailer 6 saddle.

[0084] The length from camera 2 to the rear of trailer 6 is Lx = (W1 - W2) / tan(θ1 - θ3 + θ2). Then, based on the parameter L1 obtained from the calibration at the rear of trailer 6, the length of trailer 6 is calculated as: L2 = Lx - L1. Finally, using the formulas: θx = θ4 - arctan(W1 / Lx), Lb = La × tan(θx) + L4 × tan(θx) + W4 + W3 / 2, Ly... 2 =L2 2 +(W3 / 2) 2 =La 2 +Lb 2 The values ​​of La and Lb can be calculated to determine the relative coordinates of the identification point 4 at the rear of the trailer 6 that can be seen by the rearview mirror 1. Where La is the longitudinal distance from the identification point 4 at the rear of the trailer 6 visible by the rearview mirror 1 to the center of rotation of the trailer 6; Lb is the lateral distance from the identification point 4 at the rear of the trailer 6 visible by the rearview mirror 1 to the center of rotation of the trailer 6; Ly is the length from the center of rotation of the trailer 6 to the outermost point of the trailer 6's rear; and θx is the angle between the outer boundary of the rearview mirror 1's field of view and the longitudinal centerline of the vehicle. Then, based on Lb, W3, W1, La, L1, and θ3, and according to the formula:

[0085] θy = arctan((LB-W3 / 2-W1) / La+L1) and σ1 = θ3-θy, where θy is the angle between the line connecting the center of camera 2 to the identification point 4 (which is seen by the rearview mirror 1 at the rear of trailer 6) and the longitudinal direction of the vehicle center. This allows for the calculation of the standard critical angle σ1 between the line connecting the rear of trailer 6 (or identification point 4) to the center of camera 2 and the camera's optical axis 20 when the trailer 6 deflects to the critical outer boundary of the rearview mirror 1's field of view (rearview mirror field of view area 8). The outer boundary of the rearview mirror 1's field of view (rearview mirror field of view area 8) refers to the side of the rearview mirror 10 away from the cab 7.

[0086] After the user completes the calibration of the rear of trailer 6, the vehicle's central control display screen 3 will automatically prompt that the system functions equipped with this application have been activated. While the vehicle is in motion, camera 2 monitors and identifies the rear of trailer 6 and its identification point 4 in real time. When the angle σ between the first straight line 9 formed by the identification point 4 of trailer 6 and the center point of camera 2 and the camera's optical axis 20 is less than the critical angle σ0, the rearview mirror surface 10 is adjusted. Specific steps include:

[0087] 401: The control system issues a mirror adjustment command;

[0088] 402: The mirror adjustment motor receives the mirror adjustment command and drives the rearview mirror 10 to adjust.

[0089] The control system includes an integrated controller installed on the vehicle. The integrated controller issues mirror adjustment commands to drive the rearview mirror mirror adjustment motor to adjust the mirror 10, ensuring that the mirror 10 covers the rear of the trailer 6 and eliminates blind spots.

[0090] Based on the above embodiments, in this embodiment, the rearview mirror adjustment method further includes the step of adjusting the rearview mirror 1 to its designed position;

[0091] This step specifically includes:

[0092] 501: Drive the vehicle into the designated position within the vehicle calibration area;

[0093] 502: Adjust the rearview mirror 10 so that the calibration point 5 in the vehicle calibration area is located within the rearview mirror's field of view 8;

[0094] 503: After completing the initial position calibration of the end view mirror 10.

[0095] A calibration point 5 is set within the vehicle calibration area. A checkerboard pattern of positioning blocks is also set on the ground within the vehicle calibration area. These positioning blocks include black and white blocks, which are staggered. Calibration feature points are formed at the boundaries between the black and white blocks. Figure 8 (Point E in the middle).

[0096] First, drive the vehicle into the designated location within the vehicle's marked area, such as... Figure 8 As shown, the vehicle calibration area is marked with parking lines and front bumper positioning lines. The vehicle needs to be driven into the designated position, with the front bumper of the cab 7 aligned with the front bumper positioning lines, and the calibration point 5 located between the cab 7 and the trailer 6. Preferably, the calibration point 5 can be aligned with the rear side of the cab 7 and the front side of the trailer 6. Then, click on the vehicle's central control display screen 3 to enter the rearview mirror 1 calibration interface. Through the rearview mirror 10 adjustment switch, the mirror adjustment motor drives the rearview mirror 10 to adjust the rearview mirror 10, so that the image of the calibration point 5 on the rearview mirror 10 is located in the middle of the inner side of the rearview mirror 10. Figure 7 Point C or point D, in this embodiment, a rearview mirror 1 has two rearview mirror surfaces 10), the inner side of the rearview mirror surface 10 refers to the side of the rearview mirror surface 10 closest to the driver's cab 7; finally, click on the outer boundary of the field of view of the rearview mirror 1 on the vehicle central control display screen 3 ( Figure 6 The calibration feature point that coincides with the outer boundary of the rearview mirror's field of view area 8 (as shown in boundary B) is the boundary of the middle boundary. Figure 6 (As shown in the midpoint A), and press the OK button. After completion, the initial position of the sight mirror 10 is calibrated.

[0097] Based on the above embodiments, in this embodiment, the rearview mirror adjustment method further includes the step of adjusting the camera 2 to its designed position;

[0098] This step specifically includes:

[0099] 601: Drive the vehicle into the designated position within the vehicle's calibration area;

[0100] 602: Adjust camera 2 so that camera 2 captures calibration point 5 within the vehicle calibration area;

[0101] 603: Obtain the relative coordinates of camera 2 on cab 7;

[0102] 604: Based on the relative coordinates of camera 2 on cab 7, obtain θ1, θ3 and θ2;

[0103] 605: Initial position calibration of camera 2 completed.

[0104] Since the rearview mirror 1 and vehicle manufacturing and installation will produce errors, it is necessary to calibrate the initial position of the camera 2. The purpose of calibration is to eliminate these deviations and determine the relative coordinate value of the camera 2 on the cab 7.

[0105] Specifically, first, drive the vehicle into the designated position within the vehicle calibration area. This step is the same as the step in calibrating the rearview mirror 1, and will not be repeated here. Then, click on the vehicle's central control display screen 3 to enter the camera 2 calibration interface. Next, begin calibrating the position parameters of camera 2 outside the vehicle. Camera 2 calibration has two methods: automatic calibration and manual calibration. Automatic calibration automatically identifies calibration feature points on the ground, calibration point 5, and calibration feature points that coincide with the outer boundary of the rearview mirror 1's field of view, automatically obtaining the relative coordinate values ​​of camera 2 on the driver's cab 7. The image acquired by camera 2 is displayed on the vehicle's central control display screen 3. For manual calibration, follow the prompts on the vehicle's central control display screen 3 to manually select points step by step. The selected points include calibration point 5 and calibration feature points that coincide with the outer boundary of the rearview mirror 1's field of view. After calibration, click the confirmation button on the vehicle's central control display screen 3 to complete the initial position calibration of camera 2.

[0106] After the initial position calibration of camera 2 and rearview mirror 10 is completed, the integrated controller automatically calculates and determines the parameter values ​​of W1, W2, W3, W4, θ1, θ2, θ3, θ4, L1, L2, and L4, and saves them in the database. Among them, W1, W2, L1, W3, and L2 are the vehicle and calibration site parameters built into the control system, while W4, θ1, θ3, θ2, θ4, and L4 are the data obtained when the initial position calibration of camera 2 and rearview mirror 10 is completed.

[0107] Secondly, embodiments of this application provide a rearview mirror adjustment system, which includes:

[0108] The first module is used to adjust the rearview mirror 10 so that the identification point 4 at the rear of the trailer 6 is located within the rearview mirror's field of view 8 when the angle σ between the first straight line 9 formed by the identification point 4 at the rear of the trailer 6 and the center point of the camera 2 and the optical axis 20 of the camera is less than the critical angle σ0.

[0109] Among them, the camera 2 is mounted on the mounting bracket 11 of the rearview mirror 1, and the camera 2 and the rearview mirror 1 are in their respective designed positions; based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line 9 and the optical axis 20 of the camera when the trailer 6 is deflected relative to the cab 7 and the first straight line 9 coincides with the outer boundary of the field of view of the rearview mirror 1.

[0110] In this application, when the vehicle is in motion, the camera 2 captures the identification point 4 at the rear of the trailer 6 in real time and obtains the angle σ between the first straight line 9 and the optical axis 20 of the camera. When σ is less than the critical angle σ0, the rearview mirror 10 is adjusted to ensure that the field of view of the rearview mirror 10 covers the rear of the trailer 6 and eliminates the blind spot at the rear of the trailer 6.

[0111] In this embodiment, the rearview mirror 1 includes a mirror frame, a mirror adjustment motor, a rearview mirror surface 10, and a mounting bracket 11. The mirror adjustment motor and the rearview mirror surface 10 are mounted on the mirror frame. The mirror adjustment motor is connected to the rearview mirror surface 10 and is used to control the adjustment of the position and attitude of the rearview mirror surface 10. The mounting bracket 11 is fixed to the mirror frame, and the rearview mirror 1 is connected to the surface of the driver's cab 7 through the mounting bracket 11. A camera 2 is mounted on the mounting bracket 11.

[0112] Based on the above embodiments, in this embodiment, the revision value is 0 or not equal to 0.

[0113] In this embodiment, considering the differences in driving habits among different drivers when observing the rearview mirror 1, the user can access the vehicle central control display screen 3 located in the driver's cab 7 and click on the automatic adjustment function definition interface for the rearview mirror 1 on the screen of the vehicle central control display screen 3. The user can appropriately reduce or increase the size of σ1 based on the standard critical angle σ1 to achieve a state that better suits their driving habits. The value reduced or increased based on the standard critical angle σ1 is the revision value, which is not equal to 0. If the standard critical angle σ1 suits the driver's driving habits, there is no need to adjust the size of σ1, and the revision value is 0.

[0114] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0115] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0116] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adjusting a rearview mirror, characterized in that, It includes: When the angle σ between the first straight line (9) formed by the identification point (4) at the rear of the trailer (6) and the center point of the camera (2) and the optical axis (20) of the camera is less than the critical angle σ0, adjust the mirror surface (10) of the rearview mirror so that the identification point (4) at the rear of the trailer (6) is located within the field of view (8) of the rearview mirror; The camera (2) is mounted on the mounting bracket (11) of the rearview mirror (1), and the camera (2) and the rearview mirror (1) are in their respective designed positions; based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line (9) and the optical axis (20) of the camera when the trailer (6) is deflected to the point that the first straight line (9) coincides with the outer boundary of the field of view of the rearview mirror (1) relative to the cab (7); Obtaining the standard critical angle σ1 specifically includes the following steps: An identification point (4) is installed at the rear of the trailer (6), and the camera (2) is used for identification to complete the calibration of the rear of the trailer (6) and obtain the length Lx from the camera (2) to the rear of the trailer (6) along the length direction of the trailer (6); Based on Lx, obtain the angle θy between the line connecting the center of the camera (2) to the identification point (4) at the rear of the trailer (6) seen by the rearview mirror (1) and the longitudinal direction of the vehicle center; Based on θy and the formula σ1=θ3-θy, the standard critical angle σ1 is obtained, where θ3 is the angle between the optical axis of the camera (20) and the recognition point (4) from the camera (2) to the rear of the trailer (6); Among them, an identification point (4) is installed at the rear of the trailer (6), and a camera (2) is used for identification to complete the calibration of the rear of the trailer (6), specifically including: Align the trailer (6) and cab (7) into a straight line, and install identification points (4) at the rear of the trailer (6). The identification point (4) is captured by the camera (2). When the identification point (4) is captured, the tail calibration of the trailer (6) is completed.

2. The rearview mirror adjustment method as described in claim 1, characterized in that: The revision value is 0 or not equal to 0.

3. The rearview mirror adjustment method as described in claim 1, characterized in that, The critical angle σ0 is the sum of the standard critical angle σ1 and the revised value.

4. The rearview mirror adjustment method as described in claim 1, characterized in that, Obtain the length Lx from the camera (2) to the rear of the trailer (6) along the length direction of the trailer (6), specifically including: Based on W1, W2, θ1, θ3, and θ2, the length Lx from the camera (2) to the rear of the trailer (6) is obtained; Where W1 is the distance from the camera (2) to the outer surface of the vehicle; W2 is the distance from the calibration point (5) to the outermost width of the vehicle when calibrating the rearview mirror (1) and the camera (2). The outermost width is the outer surface of the widest part of the vehicle. θ1 is the angle between the camera (2) to the front end of the trailer (6) and the camera (2) to the rear end of the trailer (6) along the length of the trailer (6); θ2 is the angle between the camera optical axis (20) and the camera (2) to the calibration point (5) when calibrating the rearview mirror (1) and the camera (2).

5. The rearview mirror adjustment method as described in claim 1, characterized in that, The rearview mirror adjustment method also includes the step of adjusting the rearview mirror (1) to its designed position; This step specifically includes: Drive the vehicle into the designated location within the vehicle's calibrated area; Adjust the rearview mirror (10) so that the calibration point (5) in the vehicle calibration area is located within the rearview mirror field of view (8); After completion, the initial position of the viewing mirror (10) is calibrated.

6. The rearview mirror adjustment method as described in claim 4, characterized in that, The rearview mirror adjustment method also includes the step of adjusting the camera (2) to its designed position; This step specifically includes: Drive the vehicle into the designated location within the vehicle's calibrated area; Adjust the camera (2) so that the camera (2) captures the calibration point (5) in the vehicle calibration area; Obtain the relative coordinates of the camera (2) on the cab (7); Based on the relative coordinates of the camera (2) on the cab (7), θ1, θ3 and θ2 are obtained; Complete the initial position calibration of the camera (2).

7. The rearview mirror adjustment method as described in claim 1, characterized in that: The rearview mirror (1) includes: a mirror adjustment motor and a rearview mirror (10); Adjusting the rearview mirror (10) involves the following steps: The control system issues a mirror adjustment command; The mirror adjustment motor receives the mirror adjustment command and drives the rearview mirror (10) to adjust.

8. A rearview mirror adjustment system, characterized in that, It includes: The first module is used to adjust the rearview mirror (10) so that the identification point (4) at the rear of the trailer (6) is located within the rearview mirror field of view (8) when the angle σ between the first straight line (9) formed by the identification point (4) at the rear of the trailer (6) and the center point of the camera (2) and the optical axis (20) of the camera is less than the critical angle σ0. The camera (2) is mounted on the mounting bracket (11) of the rearview mirror (1), and the camera (2) and the rearview mirror (1) are in their respective designed positions; based on the standard critical angle σ1 and the revised value, the critical angle σ0 is obtained. The standard critical angle σ1 is the angle between the first straight line (9) and the optical axis (20) of the camera when the trailer (6) is deflected to the point that the first straight line (9) coincides with the outer boundary of the field of view of the rearview mirror (1) relative to the cab (7); The first module is also used to obtain the standard critical angle σ1: an identification point (4) is installed at the rear of the trailer (6), and the camera (2) is used for identification to complete the calibration of the rear of the trailer (6) and obtain the length Lx from the camera (2) to the rear of the trailer (6) along the length direction of the trailer (6); based on Lx, the angle θy between the line connecting the center of the camera (2) to the identification point (4) seen by the rearview mirror (1) and the longitudinal direction of the vehicle center is obtained; based on θy and the formula σ1=θ3-θy, the standard critical angle σ1 is obtained, where θ3 is the angle between the optical axis (20) of the camera and the identification point (4) from the camera (2) to the rear of the trailer (6); In this process, an identification point (4) is installed at the rear of the trailer (6), and a camera (2) is used for identification to complete the calibration of the rear of the trailer (6): the trailer (6) and the cab (7) are aligned into a straight line, and an identification point (4) is installed at the rear of the trailer (6); the camera (2) is used to capture the identification point (4), and when the identification point (4) is captured, the calibration of the rear of the trailer (6) is completed.

Images