Method and system for automatically adjusting the angle of an automobile exterior mirror in response to steering

Abstract

The present application belongs to the field of automobile electronics, and the method comprises the following steps: angle sensor and vehicle speed sensor monitor the wheel, steering wheel angle and vehicle speed in real time, the control unit pre-processes, and monitors whether the vehicle is in a turning state; when the vehicle is in the turning state, according to the detection results of the angle sensor and the vehicle speed sensor, the control unit outputs a control signal to the driving adjusting motor, and calls the corresponding optimal angle control adjusting motor to adjust the outside rearview mirror; after the turning is completed, the outside rearview mirror automatically moves back to the original position, and the adjusting motor enters a dormant state to wait for the control signal. The present application ensures that the angle of the rearview mirror can be adjusted in real time following the change of the turning angle of the vehicle when the vehicle is driving and turning, provides sufficient field of view without the need for the driver to make a large turning motion, expands the utilization rate of the field of view of the rearview mirror, ensures the driving safety of the vehicle when turning, improves the driving experience of the driver, and increases the sense of technology of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automotive electronics, and particularly relates to a device and method for automatically adjusting the angle of an automobile outside rearview mirror according to steering. BACKGROUND

[0002] Currently, when a vehicle is turning, the driver needs to continuously and substantially move his head to observe whether there are pedestrians and vehicles behind the vehicle through the left and right rearview mirrors, and only after ensuring that there are no pedestrians and vehicles behind the vehicle, the vehicle can continue to turn slowly. However, the line of sight of the driver observing the side rear is often blocked and limited by the blind area of the vehicle itself, the left and right rearview mirror field of view, the window, the B-pillar, the seat headrest and other obstacles, and the driver cannot completely grasp the situation of pedestrians and vehicles behind the vehicle during the turning process, which brings certain safety hazards to the driver, pedestrians and vehicles behind the vehicle. During the turning process, if the driver substantially twists his head, the driving and riding comfort will be increased. In addition, during the turning process, the spatial region scanned by the left and right rearview mirror field of view constantly coincides with the spatial region through which the vehicle travels, and during this process, the angle of the left and right rearview mirrors is always fixed and cannot be changed, and only through the driver continuously and substantially moving his head, the left and right rearview mirrors can be used to observe whether there are pedestrians and vehicles behind the vehicle. For the driver, the part of the field of view observed by the left and right rearview mirrors with a fixed angle is of no value, and the utilization rate of the rearview mirror field of view is also low.

[0003] For example, patent 1: application number 200320120914.9, authorized announcement number CN2683449Y patent literature: adjustable rearview mirror, its disclosed technical solution is: it has a shell, the shell installs motor, the motor installs rocker arm, the rocker arm installs reflector. When the car turns or reverses, it clearly shows the scene of the car tail or the car body two sides by rotating the reflector by a certain angle, so that the driver can turn or reverse according to the scene reflected in the rearview mirror, reduce the labor intensity, improve the work efficiency; At the same time, the shell is provided with red and green flashing light, which can play the role of turn signal or width indicating light in the case of low visibility at night, rainy day and the like, so as to improve the attention of the opposite vehicle or pedestrian, improve the safety of driving. In addition, it also has the advantages of simple structure, convenient operation and the like. For example, patent 2: application number 201220123820.6, authorized announcement number CN202574001U patent literature: rearview mirror intelligent adjusting device, its disclosed technical solution is: the outer rearview mirror intelligent adjusting device, which comprises a control unit, a camera unit collecting the direction angle information of the driver's eyes and transmitting the information to the control unit, a rotating motor, a first driving mechanism electrically connected with the rotating motor and an outer rearview mirror connected with the first driving mechanism and arranged on the vehicle body; The rotating motor and the camera unit are electrically connected with the control unit, and the camera unit is arranged in the vehicle and located in front of the driver. The device can complete the angle adjustment of the outer rearview mirror of the car without the operation of the driver, so as to ensure the driving safety; Moreover, the position of the outer rearview mirror can be automatically adjusted for drivers of different heights, greatly improving the driving comfort and solving the problem of inconvenient adjustment of the existing outer rearview mirror.

[0004] The above technical scheme has the adjusting function of left and right outer rearview mirror, but patent 1 solves the problem that the driver needs to manually operate the switch and adjust the angle of the reflector according to the demand when the car turns or reverses; Patent 2 captures the driver's eyes by collecting the driver's information, judges the direction angle of the eyes, and then the control unit calculates the position of the outer rearview mirror through internal algorithm, and then the control unit controls the starting of the rotating motor, and the rotating motor drives the first driving mechanism to work to adjust the outer rearview mirror to the best position, so that the driver can obtain the most ideal driving field of view. The problem that the rearview mirror angle is fixed and the rearview mirror field of view cannot follow the vehicle rotation during the driving turning process, which leads to limited field of view and the driver cannot fully see the traffic situation behind the vehicle, has not been solved. SUMMARY

[0005] In view of the above existing problems, the present application is proposed. The control unit judges the turning demand of the vehicle by receiving the angle signal of the steering wheel or the steering wheel, then judges the running state according to the speed signal of the speed sensor, and then sends the control signal to call the corresponding relationship between the different wheel rotation angles (or steering wheel rotation angles) and the corresponding rotation angles and speeds of the motor stored in the controller to control the rotation of the motor, automatically adjusts the outside rearview mirror to the preset optimal angle, and enables the passenger to observe the traffic situation behind the vehicle through the outside rearview mirror,

[0006] Therefore, a method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering is provided.

[0007] To solve the above technical problems, the present application provides the following technical scheme, a method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, comprising:

[0008] The angle sensor and the speed sensor monitor the wheel, the steering wheel angle and the speed in real time, the control unit is preprocessed, and whether the vehicle is in the turning state is monitored; when the vehicle is in the turning state, the control unit outputs the control signal to the driving adjusting motor according to the detection results of the angle sensor and the speed sensor, and calls the corresponding optimal angle control adjusting motor to adjust the outside rearview mirror; after the turning is completed, the outside rearview mirror automatically moves back to the original position, and the adjusting motor enters the dormant state to wait for the control signal.

[0009] As a preferred scheme of the method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, the preprocessing includes that the angle sensor and the speed sensor convert the detected angle and speed into electric signals, and the control unit receives the digital signals of the angle and the speed, and then filters, amplifies and eliminates the noise and interference factors of the electric signals.

[0010] As a preferred scheme of the method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, the monitoring whether the vehicle is in the turning state includes that when the driver drives the vehicle to run, the angle sensor and the speed sensor monitor the wheel, the steering wheel angle and the speed in real time.

[0011] The angle sensor includes a detection unit of the angle sensor of the steering wheel or the steering wheel, which sends the detected angle signal ω to the control unit, and the control unit judges whether the vehicle is turning at this time according to the received angle signal ω of the steering wheel or the steering wheel, wherein the steering wheel angle and the turning radius corresponding to the steering wheel angle of different vehicles are different, and the vehicle is tested for turning before leaving the factory, and when the vehicle is in the turning state, the front inner wheel rotation angle ω is greater than or equal to X° during the test, so that when the front inner wheel rotation angle ω is greater than or equal to X° in the actual operation of the vehicle, it is considered that the vehicle is in the turning state.

[0012] The vehicle speed sensor detects the current vehicle speed and feeds back to the control unit, when the vehicle speed v=0, the control unit judges that the current vehicle is in the parking state, the mirror driving motor does not perform any operation, when v>0, the control unit judges that the current vehicle is in the running state.

[0013] As a preferred scheme of the method for automatically adjusting the angle of the automobile outside mirror according to the turning of the present application, wherein: the turning test includes a turning test simulation of the vehicle low-speed turning at the intersection before leaving the factory, and the mirror turning to the optimal angle is determined according to the turning angle of the steering wheel, the steering wheel rotation angle, the corresponding rotation angle and speed of the motor, the target function of the turning angle model is set to strengthen the learning, and the specific steps are as follows: collecting the actual turning data s, and acquiring the environmental, weather, temperature and humidity factor data, calculating the turning angle prediction s of the turning angle model according to the environmental, weather, temperature and humidity factors model1 , updating the turning angle prediction s of the turning angle model using the reinforcement learning algorithm model1 , and minimizing the target function is expressed as:

[0014] minimize(s model1 -s) 2 +T*(s model1 -s) 2 +S*(s model1 -s) 2 +θ*(s model1 -s) 2 +ω*(s model1 -s) 2

[0015] Comparing the model s model2 , the error e of s model1 and s model2 is calculated:

[0016] e=|s model1 -s model2 |

[0017] If e>X, that is, the turning angle is greater than the threshold X, scheme one is used to check and update the turning angle model; if e≤X, that is, the turning angle is less than or equal to the threshold X, scheme two is used to check and update the turning angle model, and according to the checking result, the turning angle model is optimized, corrected and updated.

[0018] Scheme one is:

[0019] The update step Δθ is calculated: Δθ=γ*ε*(s model1 -s).

[0020] The turning angle prediction of the updated model one is: s model1 =s model1 +Δθ.

[0021] The target function of the updated model one: T = T * (1 - gamma) + (1 - T) * (1 + theta).

[0022] The second scheme is:

[0023] Calculate the update step size delta theta: delta theta = gamma * epsilon * (s model1 -s).

[0024] Update the corner prediction of the model one: s model1 = s model1 + delta theta.

[0025] The target function of the updated model one: S = S * (1 - gamma) + (1 - S) * (1 + theta).

[0026] Wherein, s is the actual corner angle, s model1 is the corner prediction of the corner angle model, s model2 is the corner prediction of the contrast model, X is the front inner wheel corner threshold value, epsilon is the learning rate, gamma is the discount factor to balance the performance of the model in a period of time, T, S, theta are temperature, humidity and environmental factors, and omega is the angle signal.

[0027] As a preferred scheme of the method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, wherein: the adjusting motor adjusts the outside rearview mirror, which comprises: when the control unit judges the cornering state according to the angular velocity and the driving state detected by the vehicle speed sensor, then a control signal is sent to call the corresponding relationship between the different wheel rotation angles and the rotation angles and speeds of the motor stored in the controller to control the driving adjusting motor to rotate, so as to adjust the optimal angle of the outside rearview mirror:

[0028] The input positive and negative poles of the adjusting motor 1 control the positive and negative rotation of the motor, thereby controlling the up and down flipping of the mirror piece, and the input positive and negative poles of the adjusting motor 2 control the positive and negative rotation of the motor, thereby controlling the left and right flipping of the mirror piece, so that the driver can observe the traffic situation on the side and rear of the vehicle through the outside rearview mirror.

[0029] As a preferred scheme of the method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, wherein: the driving adjusting motor comprises: when the driver starts to turn, the rotation angle of the rearview mirror will change to adapt to the new driving direction, at this time, the detection model in the control unit monitors the rotation angle of the outside rearview mirror in real time, and after the driver completes the turning, the value of mu should be equal to the value of beta 0.

[0030] Within a period of time after completing the turning, the detection model detects whether mu is equal to beta 0, if mu = beta 0, it is considered that the outside rearview mirror has been rotated and returned to the original position, and when t warnWhen t≥3s, if μ≠β0, the detection model does not detect the rotation result of the outside rearview mirror, indicating that the rearview mirror does not return to the original position, affecting the driver, so t warn After a certain period of time, the control unit will issue a warning to remind the driver to check and manually adjust, at which time the detection continues, and when the driver adjusts the position to β1, the control unit remembers the position of the outside rearview mirror at this time, and the detection model automatically adjusts μ=β1, so that the position β n wherein μ is the adjusted angle position of the rearview mirror, t warn is the time for issuing a warning.

[0031] As a preferred embodiment of the method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, the automatic return to the original position includes that, before the vehicle starts to turn, the control unit stores the angle position β0 of the outside rearview mirror at this time by the rotation angle of the driving motor at this time:

[0032]

[0033] wherein ω is the rotation angle of the front inner wheel, s is the rotation angle of the steering wheel, α is the actual steering angle, P is the new position of the rearview mirror, P0 is the default position of the rearview mirror when the vehicle is running, k is a constant set according to the vehicle type and the control system, and β0 is the angle position before the vehicle starts to turn.

[0034] When the driver finishes turning and ω=0, the control unit triggers the control motor to rotate the outside rearview mirror to automatically restore to the angle of the outside rearview mirror during normal driving according to the angle signal fed back by the detection unit at this moment, so that the driver can observe the traffic situation behind the vehicle through the rearview mirror, and the motor enters a dormant state for the next call.

[0035] Another object of the present application is to provide a system for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, so as to improve the driving safety and comfort. By automatically adjusting the angle of the rearview mirror, the driver can better master the road conditions around the vehicle and reduce the blind area, thereby reducing the incidence of traffic accidents. At the same time, the system can also automatically adjust the angle of the rearview mirror according to the steering operation of the driver, so that the driving process is more convenient.

[0036] A system for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, characterized in that it comprises a control module, a sensor module and a driving module.

[0037] The control module receives the detection data of the angle sensor and the vehicle speed sensor, outputs a signal to the driving adjustment motor, and controls the adjustment motor to adjust the angle of the outside rearview mirror so that the driver can observe the traffic situation behind the vehicle through the outside rearview mirror when the vehicle is turning.

[0038] The sensor module is used for detecting the speed sensor module of the vehicle driving speed and the angle sensor for detecting the steering wheel rotation angle, and the information is transmitted to the control module.

[0039] The driving module controls and adjusts the rotation angle of the outside rearview mirror according to the instruction from the control module.

[0040] A computer device comprises a memory and a processor, and the memory stores a computer program, wherein the processor implements the steps of the method for automatically adjusting the angle of the outside rearview mirror of the vehicle with the steering when executing the computer program.

[0041] A computer readable storage medium stores a computer program, wherein the computer program implements the steps of the method for automatically adjusting the angle of the outside rearview mirror of the vehicle with the steering when executed by a processor.

[0042] The present application solves the problem that the driver cannot fully observe the traffic situation behind the vehicle through the left and right outside rearview mirrors when driving the vehicle to turn, such as pedestrians, bicycles and electric vehicles. When the vehicle turns left or right, the driver needs to twist his head greatly to observe and confirm whether there are pedestrians and vehicles behind the vehicle through the left and right rearview mirrors, and can continue to turn under the condition of ensuring safety. However, the line of sight of the driver observing the side rear is often blocked and limited by the blind area of the vehicle itself, the windows, the B column, the seat headrest and the passengers in the vehicle, etc. obstacles, so that the driver cannot fully grasp the situation of pedestrians and vehicles outside the vehicle when turning, which brings certain safety hazards to passengers, pedestrians and vehicles. If the driver twists his head greatly, the driving and riding comfort is also increased. In addition, during the turning process of the vehicle, the space area scanned by the left and right rearview mirrors is repeatedly scanned with the driving space area of the vehicle. During this process, part of the field of view of the left and right rearview mirrors has no observation value for the driver, and the utilization rate of the field of view of the rearview mirror is low. The present application ensures that the angle of the rearview mirror can be adjusted in real time with the change of the turning angle of the vehicle when the vehicle is driving and turning, and provides sufficient field of view without the need for the driver to twist his head greatly, thereby expanding the utilization rate of the field of view of the rearview mirror, ensuring the driving safety of the vehicle when turning, improving the driving feeling of the driver, and increasing the technological sense of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0044] Figure 1 A flow chart of a method for automatically adjusting the angle of an automobile outside rearview mirror according to the steering for an embodiment of the present application.

[0045] Figure 2 A relationship diagram of a device for automatically adjusting the angle of an automobile outside rearview mirror according to the steering for a method for automatically adjusting the angle of an automobile outside rearview mirror according to the steering for an embodiment of the present application.

[0046] Figure 3 A working flow chart of a method for automatically adjusting the angle of an automobile outside rearview mirror according to the steering for an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present application.

[0048] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other different manners from those described herein, and those skilled in the art can make similar generalizations without departing from the concept of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0049] Secondly, the "one embodiment" or "embodiment" referred to herein can include specific features, structures or characteristics contained in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor does it mean that the embodiment is mutually exclusive or selective with other embodiments.

[0050] The present application is described in detail in conjunction with the schematic diagram, and in the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is partially enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the protection scope of the present application herein. In addition, the three-dimensional spatial dimensions including length, width and depth should be included in the actual manufacture.

[0051] Meanwhile, in the description of the present application, it should be noted that the terms "upper, lower, inner and outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first, second or third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] Unless otherwise expressly specified and limited, the terms "mounting, connecting, connecting" in the present application should be understood broadly, for example: it can be fixed connection, detachable connection or integral connection; it can also be mechanical connection, electrical connection or direct connection, it can also be indirectly connected through intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] Embodiment 1

[0054] Reference Figures 1-2 For the first embodiment of the present application, the embodiment provides a method for automatically adjusting the angle of the automobile outside rearview mirror according to the steering, comprising:

[0055] S1: The angle sensor and the speed sensor monitor the wheel, the steering wheel angle and the speed in real time, and the control unit is preprocessed to monitor whether the vehicle is in a turning state.

[0056] Further, the automatic adjustment of the rearview mirror according to the steering angle includes: the power supply provides a power source for the entire device, the driving adjustment motor is used to control and adjust the rotation angle of the outside rearview mirror, the angle sensor is used to detect the rotation angle of the steering wheel (or the rotation angle of the steering wheel), the speed sensor is used to detect the speed of the vehicle, and the control unit is used to output signals to the driving adjustment motor according to the detection results of the angle sensor and the speed sensor, and control the adjustment motor to adjust the angle of the outside rearview mirror so that the driver can observe the traffic situation behind the vehicle through the outside rearview mirror when the vehicle is turning.

[0057] The angle sensor and the speed sensor are connected to the signal input end of the control unit, the driving adjustment motor is connected to the signal output end of the control unit, and the power supply is connected to the control unit.

[0058] It should be noted that when the driver drives the vehicle, the angle sensor and the speed sensor monitor the wheel, the steering wheel angle and the speed in real time.

[0059] The angle sensor includes a detection unit of an angle sensor of a steering wheel, a steering wheel, which sends a detected angle signal ω to a control unit, and the control unit determines whether the vehicle is turning at this time according to the received angle signal ω of the steering wheel, steering wheel, wherein the steering wheel angle corresponding to the steering wheel angle of different vehicle steering wheels and the turning radius are different, and the vehicle is tested for turning before leaving the factory, and when the front inner wheel turning angle ω≥X° when the vehicle is in a turning state during testing, the vehicle is considered to be in a turning state when the front inner wheel turning angle ω≥X° during actual operation.

[0060] The vehicle speed sensor detects the current speed of the vehicle and feeds back to the control unit, and when the vehicle speed v=0, the control unit determines that the current vehicle is in a parking state, and the rearview mirror driving motor does not perform any operation, and when v>0, the control unit determines that the current vehicle is in a running state.

[0061] It should also be noted that the angle sensor and the speed sensor convert the detected angle and speed into an electrical signal, and after the control unit receives the digital signal of the angle and speed, the electrical signal is filtered, amplified and noise and interference factors are eliminated.

[0062] S2: When the vehicle is in a turning state, the control unit outputs a control signal to the driving adjustment motor according to the detection results of the angle sensor and the speed sensor, and calls the corresponding optimal angle control adjustment motor to adjust the outside rearview mirror.

[0063] Further, the angle of the automobile outside rearview mirror automatically adjusted with steering can be determined by the manufacturer before the vehicle leaves the factory, when the vehicle is simulated to turn at a low speed at a road intersection, and the corresponding motor rotation angle and speed when the rearview mirror is rotated to the optimal angle are determined according to the steering wheel rotation angle (or steering wheel rotation angle) test multiple times, so as to achieve the purpose of keeping the driver's sitting posture unchanged without moving the head during different stages of turning, and fully observing the side rear view through the left and right rearview mirrors. Test calibration, at this time, different wheel rotation angles (or steering wheel rotation angles) and corresponding motor rotation angles and speeds are one-to-one corresponding, and the test calibration results are saved in the controller for calling. In addition, the above test calibration can also be performed by the driver according to his own situation, and the test calibration results are saved in the controller for calling.

[0064] It should be noted that the turning test simulates the vehicle turning at a low speed at a road intersection before leaving the factory, and the corresponding motor rotation angle and speed when the rearview mirror is rotated to the optimal angle are determined according to the steering wheel rotation angle, steering wheel rotation angle test multiple times, and the objective function of the turning angle model is set for reinforcement learning, as follows: actual turning angle data s is collected, and environment, weather, temperature, humidity factor data is obtained, and the turning angle model turning angle prediction s is calculated according to the environment, weather, temperature, humidity factors. model1, the turn angle model is updated using a reinforcement learning algorithm to predict the turn angle s model1 , expressed as a minimization of an objective function:

[0065] minimize(s model1 -s) 2 +T*(s model1 -s) 2 +S*(s model1 -s) 2 +θ*(s model1 -s) 2 +ω*(s model1 -s) 2

[0066] The contrast model s model2 , the error e between s model1 and s model2 is calculated:

[0067] e = |s model1 -s model2 |

[0068] If e > X, i.e. the turn angle is greater than the threshold X, scheme one is used to verify and update the turn angle model; if e ≤ X, i.e. the turn angle is less than or equal to the threshold X, scheme two is used to verify and update the turn angle model, and the turn angle model is optimized, corrected and updated according to the verification result.

[0069] Scheme one is:

[0070] The update step Δθ is calculated: Δθ = γ * ε * (s model1 -s).

[0071] The turn angle prediction of model one is updated: s model1 = s model1 + Δθ.

[0072] The objective function of model one is updated: T = T * (1 - γ) + (1 - T) * (1 + θ).

[0073] Scheme two is:

[0074] The update step Δθ is calculated: Δθ = γ * ε * (s model1 -s).

[0075] The turn angle prediction of model one is updated: s model1 = s model1 + Δθ.

[0076] The objective function of model one is updated: S = S * (1 - γ) + (1 - S) * (1 + θ).

[0077] Where s is the actual turn angle, s model1For the turning angle model, s model2 For the turning angle prediction of the comparative model, X is the front inner wheel turning angle threshold, ε is the learning rate, γ is the discount factor to balance the performance of the model over time, T, S, and θ are the temperature, humidity, and environmental factors, and ω is the angle signal.

[0078] It should also be noted that the adjusting motor adjusts the outside rearview mirror, which includes sending a control signal to call the corresponding relationship between the different wheel turning angles and the motor corresponding turning angles and speeds stored in the controller to control the driving of the adjusting motor to rotate, so as to adjust the optimal angle of the outside rearview mirror according to the turning state judged by the control unit according to the angular velocity and the driving state detected by the vehicle speed sensor:

[0079] The input positive and negative poles of the adjusting motor 1 control the positive and negative rotation of the motor, thereby controlling the up and down flipping of the mirror piece, and the input positive and negative poles of the adjusting motor 2 control the positive and negative rotation of the motor, thereby controlling the left and right flipping of the mirror piece, so that the driver can observe the traffic situation behind the vehicle through the outside rearview mirror.

[0080] S3: After completing the turning, the outside rearview mirror automatically moves back to the original position, and the adjusting motor enters a dormant state to wait for a control signal.

[0081] Further, when the driver starts to turn, the turning angle of the rearview mirror will change to adapt to the new driving direction, at this time, the detection model in the control unit monitors the turning angle of the outside rearview mirror in real time, and when the driver completes the turning, the value of μ should be equal to the value of β0; within a period of time after completing the turning, the detection model detects whether μ is equal to β0, if μ=β0, it is considered that the outside rearview mirror has been turned and returned to the original position, when t warn ≥3 seconds, if μ≠β0, the detection model does not detect the turning result of the outside rearview mirror, which means that the rearview mirror has not returned to the original position, affecting the driver, then t warn time, the control unit will issue a warning to remind the driver to check and manually adjust, at this time, the detection continues, and when the driver adjusts the position, the control unit remembers the position β1 of the outside rearview mirror at this time, and the detection model automatically adjusts μ=β1, which corresponds to the position β n , wherein μ is the rearview mirror adjusted angle position, t warn is the time to issue a warning.

[0082] It should be noted that before the vehicle starts to turn, the control unit stores the angle position β0 of the outside rearview mirror at this time through the rotation angle of the driving motor at this time:

[0083]

[0084] Wherein, ω is the front inner wheel rotation angle, s is the steering wheel rotation angle, α is the actual steering angle, P is the new rearview mirror position, P0 is the default position of the rearview mirror when the vehicle is running, k is a constant set according to the vehicle type and the control system, and β0 is the angle position before the vehicle starts to turn.

[0085] When the driver finishes turning and ω = 0, the control unit triggers the motor to rotate the outside rearview mirror to automatically restore to the angle of the outside rearview mirror during normal driving according to the angle signal fed back by the detection unit at this moment, so that the driver can observe the traffic situation behind the vehicle through the rearview mirror, and the motor enters a dormant state for the next call.

[0086] Embodiment 2

[0087] Reference Figures 1-2 For an embodiment of the present application, a method for automatically adjusting the angle of an automobile outside rearview mirror according to turning is provided, and scientific demonstration is carried out through experiments to verify the beneficial effects of the present application.

[0088] The steering wheel angle and the turning radius corresponding to the steering wheel angle of different vehicles are different, and the actual turning test is carried out by taking the corresponding relationship between the front inner wheel rotation angle, the steering wheel rotation angle, the turning radius and the lens angle of a certain vehicle as an example.

[0089] Table 1

[0090] Front inside wheel turn angle Turning radius (m) Lens angle 0 0 0 2 83.09575563 0.37 4 41.57320308 0.74 6 27.74363995 1.11 8 20.8373603 1.48 10 16.70043468 1.85 12 13.94822983 2.22 14 11.98734013 2.59 16 10.52107048 2.96 18 9.38459729 3.33 20 8.479032899 3.7 22 7.741454897 4.07 24 7.129920788 4.44 26 6.615399 4.81 28 6.177158055 5.18 30 5.80000009 5.55 32 5.472531836 5.92 34 5.186045863 6.29 36 4.933774761 6.66 38 4.71038088 7.03

[0091] After the above turning test, the test of the reinforcement learning model is continued:

[0092] Table 2

[0093] Serial number s s model1 ]]> s model2 ]]> e Threshold value X Update policy 1 30 32 21 11 10 Scheme one 2 60 62 50 12 10 Scheme one 3 45 47 43 4 10 Scheme two 4 90 92 85 7 10 Scheme two

[0094] As can be seen from the data in the table, according to the error between the actual steering and the steering of the comparison model, the update strategy of the turning angle model is flexibly switched between scheme one and scheme two, thereby improving the prediction accuracy of the turning angle model.

[0095] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and they should be covered in the scope of the claims of the present application.

[0096] Embodiment 3

[0097] The third embodiment of the present application is different from the first two embodiments:

[0098] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the technical solutions that essentially contribute to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0099] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered a list of executable instructions for implementing logic functions, and can be specifically embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or in conjunction with these instructions execution systems, apparatuses, or devices. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport programs for use by an instruction execution system, apparatus, or device, or in conjunction with these instruction execution systems, apparatuses, or devices.

[0100] More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by editing, interpreting, or otherwise processing, if necessary, in other suitable ways to be electronically obtained, and then stored in the computer memory.

[0101] It should be understood that various parts of the present application can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, a plurality of steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, it can be implemented using any or a combination of the following technologies, which are known in the art: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0102] Embodiment 4

[0103] Referring to Figure 3 For a fourth embodiment of the present application, the embodiment provides an automatic angle adjusting system for an automobile outside rearview mirror, comprising a control module, a sensor module and a driving module.

[0104] The control module receives detection data of the angle sensor and the vehicle speed sensor, outputs a signal to the driving adjusting motor, and controls the adjusting motor to adjust the angle of the outside rearview mirror so that the driver can observe the traffic situation behind the vehicle through the outside rearview mirror when the vehicle turns.

[0105] The sensor module is used to detect the speed of the vehicle and the angle of the steering wheel and the direction of the steering wheel, and to transmit the information to the control module.

[0106] The driving module controls and adjusts the rotation angle of the outside rearview mirror according to the instructions from the control module.

[0107] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A method for automatically adjusting the angle of a car's exterior rearview mirror according to steering, characterized in that: include, Angle sensors and vehicle speed sensors monitor wheel and steering wheel angles and vehicle speed in real time. The control unit performs preprocessing and monitors whether the vehicle is turning. When the vehicle is turning, based on the detection results of the angle sensor and the vehicle speed sensor, the control unit outputs a control signal to the drive adjustment motor, which then calls the corresponding optimal angle control adjustment motor to adjust the exterior rearview mirrors. After completing the turn, the exterior rearview mirrors automatically return to their original positions, and the adjustment motor enters sleep mode to await control signals. The preprocessing includes the angle sensor and vehicle speed sensor converting the detected angle and speed into electrical signals. After receiving the digital signals of angle and speed, the control unit filters and amplifies the electrical signals to eliminate noise and interference. The monitoring of whether the vehicle is turning includes real-time monitoring of wheel and steering wheel angles and vehicle speed by angle sensors and vehicle speed sensors when the driver is driving the vehicle. The angle sensor includes a detection unit for the angle sensors of the steering wheel and steering wheel. The detected angle signal ω is sent to the control unit. The control unit determines whether the vehicle is turning based on the received angle signal ω of the steering wheel and steering wheel. The steering wheel angle and turning radius are different for different vehicles. The vehicle undergoes a turning test before leaving the factory. During the test, if the front inner wheel turning angle ω ≥ X° when the vehicle is turning, then the vehicle is considered to be turning when the front inner wheel turning angle ω ≥ X° during actual operation. The vehicle speed sensor includes a vehicle speed sensor that detects the current vehicle speed and feeds it back to the control unit. When the vehicle speed v = 0, the control unit determines that the current vehicle is in a parked state and the rearview mirror drive motor does not perform any operation. When v > 0, the control unit determines that the current vehicle is in a driving state. The turning test includes pre-delivery turning tests simulating low-speed turns at intersections. Multiple tests are conducted based on the steering wheel rotation angle and steering wheel rotation angle to determine the corresponding motor rotation angle and speed when the rearview mirror reaches the optimal angle. A target function for the turning angle model is then set for reinforcement learning, as detailed below: Collect actual turning angle data s, and simultaneously acquire environmental, weather, temperature, and humidity factor data. Calculate the turning angle prediction s of the turning angle model based on these environmental, weather, temperature, and humidity factors. model1 The turning angle prediction s of the turning angle model is updated using a reinforcement learning algorithm. model1 The objective function is expressed as: minimize(s model1 -s) 2 +T*(s model1 -s) 2 +S*(s model1 -s) 2 +θ*(s model1 -s) 2 +ω*(s model1 -s) 2 Comparison Model s model2 Calculate s model1 With s model2 Error e: e=|s model1 -s model2 | If e > X, meaning the turning angle is greater than the threshold X, use Scheme 1 to verify and update the turning angle model; if e ≤ X, meaning the turning angle is less than or equal to the threshold X, use Scheme 2 to verify and update the turning angle model. Based on the verification results, optimize, correct, and update the turning angle model. Option 1 is: Calculate the update step size Δθ: Δθ=γ*ε*(s) model1 -s); Update the corner prediction of Model 1: s model1 =s model1 +Δθ; Update the objective function of Model 1: T = T*(1-γ) + (1-T)*(1+θ); Option 2 is: Calculate the update step size Δθ: Δθ=γ*ε*(s) model1 -s); Update the corner prediction of Model 1: s model1 =s model1 +Δθ; Update the objective function of Model 1: S = S*(1-γ) + (1-S)*(1+θ); Where s is the actual rotation angle, s model1 For the turning angle prediction of the turning angle model, s model2 To compare the cornering prediction of the model, X is the front inner wheel cornering threshold, ε is the learning rate, γ is the discount factor balancing the model's performance over a period of time, T, S, and θ are temperature, humidity, and environmental factors, and ω is the angle signal.

2. The method for automatically adjusting the angle of a car's exterior rearview mirror according to steering as described in claim 1, characterized in that: The adjustment motor for the exterior rearview mirror involves, based on the turning state determined by the control unit using angular velocity and the driving state detected by the vehicle speed sensor, sending a control signal to invoke the one-to-one correspondence between different wheel rotation angles and the corresponding motor rotation angle and speed stored in the controller to drive the adjustment motor to rotate and adjust the exterior rearview mirror to the optimal angle. Adjusting the positive and negative input terminals of motor 1 controls the forward and reverse rotation of the motor, thereby controlling the vertical rotation of the reflector. Adjusting the positive and negative input terminals of motor 2 controls the forward and reverse rotation of the motor, thereby controlling the horizontal rotation of the reflector, allowing the driver to observe the traffic conditions to the side and rear of the vehicle through the exterior rearview mirror.

3. A method for automatically adjusting the angle of a car's exterior rearview mirror according to steering, as described in claim 2, characterized in that: The drive adjustment motor includes a rearview mirror whose rotation angle changes to adapt to the new driving direction when the driver starts to turn. At this time, the detection model in the control unit monitors the rotation angle of the exterior rearview mirror in real time. When the driver completes the turn, the value of μ should be equal to the value of β0. After completing the turn, the detection model checks whether μ equals β0 for a short period. If μ = β0, it considers the exterior rearview mirror to have rotated and returned to its original position. When t... warn If μ≠β0 and the detection model does not detect the rotation of the exterior rearview mirror within ≥3 seconds, it indicates that the rearview mirror has not returned to its original position, affecting the driver. Therefore, t warn After a certain time, the control unit will issue an alarm to remind the driver to check and manually adjust the mirror. The detection will continue at this time. Once the driver has adjusted the mirror, the control unit will remember the current position β1 of the exterior rearview mirror. The detection model will automatically adjust μ = β1, and this position β will be remembered for future adjustments of the exterior rearview mirror. n Where μ is the angle position of the rearview mirror after adjustment, and t warn This is the time when the alarm is issued.

4. A method for automatically adjusting the angle of a car's exterior rearview mirror according to steering, as described in claim 3, characterized in that: The automatic return to the original position includes the control unit storing the angular position β0 of the exterior rearview mirror at the moment the drive motor rotates before the vehicle begins to turn. Where ω is the inner wheel turning angle, s is the steering wheel rotation angle, α is the actual steering angle, P is the new rearview mirror position, P0 is the default position of the rearview mirror when the vehicle is moving, k is a constant set according to the vehicle model and control system, and β0 is the angular position of the vehicle before it starts turning. When the driver completes the turn and ω = 0, the control unit triggers the control motor to rotate the exterior rearview mirror based on the angle signal fed back by the detection unit at this moment. The exterior rearview mirror automatically returns to the angle of the exterior rearview mirror when driving normally, so that the driver can observe the traffic situation behind the vehicle through the rearview mirror. The motor enters sleep mode to be used again next time.

5. A system employing the method for automatically adjusting the angle of a car's exterior rearview mirror according to any one of claims 1 to 4, characterized in that: Includes a control module, a sensor module, and a drive module; The control module receives detection data from the angle sensor and the vehicle speed sensor, outputs a signal to the drive adjustment motor, and controls the adjustment motor to adjust the angle of the exterior rearview mirror so that the driver can observe the traffic situation to the side and rear of the vehicle when the vehicle is turning. The sensor module includes a vehicle speed sensor module for detecting the vehicle's speed and an angle sensor for detecting the rotation angle of the steering wheels and the rotation angle of the steering wheel, and transmits the information to the control module. The drive module controls and adjusts the rotation angle of the exterior rearview mirror according to the instructions issued by the control module.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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