Anti-collision control method, controller, storage medium and vehicle for exterior mirror

Abstract

The application provides a collision prevention control method, a controller, a storage medium and a vehicle for an outside rearview mirror. The method comprises the following steps: acquiring a driving speed and a steering wheel angular velocity of a target vehicle in a current period; acquiring a road surface state of a driving section of the target vehicle, and determining a friction coefficient between a tire of the target vehicle and a road surface based on the road surface state; calculating a tire slip limit value in the current period based on the steering wheel angular velocity in the current period and the friction coefficient; and controlling the outside rearview mirror of the target vehicle to switch to a folding state if the driving speed in the current period is greater than the tire slip limit value in the current period. Through the above method, the application can predict whether the vehicle has a slip risk according to the current driving speed of the vehicle and the tire slip limit value, and fold the outside rearview mirror in time when the vehicle has a slip risk, thereby avoiding the situation that the outside rearview mirror is not folded in time due to the folding of the outside rearview mirror after the obstacle is found, and improving the collision prevention effect of the outside rearview mirror.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a collision avoidance control method, controller, storage medium, and vehicle for an exterior rearview mirror. Background Technology

[0002] When driving at night, visibility is limited, and drivers are more likely to make sudden steering maneuvers when encountering obstacles. New drivers, especially those accustomed to driving on the right, are more prone to skidding when encountering oncoming traffic. As the outermost component of the vehicle, the side mirrors are highly susceptible to colliding with roadside objects, causing them to break. In severe cases, the shattered mirror fragments can injure pedestrians.

[0003] To address the above issues, existing technologies typically control the automatic folding / unfolding of exterior rearview mirrors based on the distance between the vehicle and the obstacle detected by cameras or radar, as well as the vehicle's speed. However, controlling the exterior rearview mirrors only after an obstacle is detected often results in delayed folding, leading to poor collision avoidance control. Summary of the Invention

[0004] This application provides a collision avoidance control method, controller, storage medium, and vehicle for exterior rearview mirrors to solve the problem of poor collision avoidance control effect of exterior rearview mirrors in the prior art.

[0005] In a first aspect, this application provides a collision avoidance control method for an exterior rearview mirror, comprising:

[0006] Obtain the target vehicle's speed and steering wheel angular velocity in the current cycle;

[0007] The road surface condition of the target vehicle's driving section is obtained, and the friction coefficient between the target vehicle's tires and the road surface is determined based on the road surface condition.

[0008] Based on the steering wheel angular velocity and the friction coefficient in the current cycle, calculate the tire slip limit value in the current cycle;

[0009] If the driving speed in the current cycle is greater than the tire slippage limit in the current cycle, then the exterior rearview mirrors of the target vehicle are controlled to be switched to a folding state.

[0010] In one possible implementation, calculating the tire slip limit value for the current cycle based on the steering wheel angular velocity and the coefficient of friction includes:

[0011] The steering angle of the target vehicle's steering wheels in the current cycle is calculated based on the steering wheel angular velocity in the current cycle.

[0012] The tire slippage limit value for the current cycle is calculated based on the steering angle of the target vehicle's steering wheel in the current cycle and the friction coefficient.

[0013] In one possible implementation, calculating the tire slip limit value for the current cycle based on the vehicle's front wheel steering angle and the coefficient of friction includes:

[0014] By inputting the front wheel steering angle and the friction coefficient of the vehicle in the current cycle into the slip limit value calculation formula, the tire slip limit value of the current cycle is obtained.

[0015] The formula for calculating the slippage limit value includes:

[0016]

[0017] Where ε represents the tire slippage limit, g represents gravitational acceleration, μ represents the coefficient of friction, L represents the wheelbase of the target vehicle, and θ represents the steering angle of the target vehicle's steering wheel in the current cycle.

[0018] In one possible implementation, calculating the steering angle of the target vehicle's steering wheels in the current cycle based on the steering wheel angular velocity of the current cycle includes:

[0019] The steering angle of the target vehicle's steering wheels in the current cycle is calculated using the steering angle calculation formula.

[0020] The formula for calculating the steering angle includes:

[0021]

[0022] Where θ represents the steering angle of the target vehicle's steering wheel in the current cycle, k represents the angle conversion coefficient between the steering wheel and the steering wheel; ω represents the steering wheel angular velocity, and t represents the duration of a single cycle.

[0023] In one possible implementation, the road surface condition includes road surface material and weather conditions; determining the coefficient of friction between the tires and the road surface of the target vehicle based on the road surface condition includes:

[0024] Get the current weather conditions;

[0025] The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the friction coefficient relationship, which includes the correspondence between road surface material, weather conditions and friction coefficients.

[0026] In one possible implementation, determining the friction coefficients corresponding to the road surface material and the current weather conditions based on the friction coefficient relationship includes:

[0027] Obtain the tire condition of the target vehicle;

[0028] Based on the condition of the tires of the target vehicle, determine the corresponding friction coefficient relationship;

[0029] The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the corresponding friction coefficient relationship.

[0030] In one possible implementation, obtaining the tire condition of the target vehicle includes:

[0031] The mileage of the target vehicle is obtained, and the condition of the tires is determined based on the mileage of the target vehicle.

[0032] In a second aspect, this application provides a controller including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any possible implementation of the first aspect above.

[0033] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in any possible implementation of the first aspect above.

[0034] Fourthly, embodiments of this application provide a vehicle that includes the controller described in the second aspect.

[0035] This application provides a collision avoidance control method, controller, storage medium, and vehicle for exterior rearview mirrors. The method includes: acquiring the driving speed and steering wheel angular velocity of a target vehicle in the current cycle; acquiring the road surface condition of the road segment in which the target vehicle is driving, and determining the friction coefficient between the tires and the road surface based on the road surface condition; calculating the tire slippage limit value for the current cycle based on the steering wheel angular velocity and the friction coefficient; and controlling the exterior rearview mirror of the target vehicle to fold if the driving speed in the current cycle is greater than the tire slippage limit value. Through this method, this application can predict whether there is a risk of skidding based on the vehicle's current driving speed and tire slippage limit value, and fold the exterior rearview mirror in a timely manner when there is a risk of skidding, avoiding the situation where the exterior rearview mirror is folded only after an obstacle is detected, thus improving the collision avoidance effect of the exterior rearview mirror. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is an application scenario diagram of the collision avoidance control method for exterior rearview mirrors provided in the embodiments of this application;

[0038] Figure 2 This is a flowchart illustrating the implementation of the anti-collision control method for the exterior rearview mirror provided in this application embodiment;

[0039] Figure 3 This is a schematic diagram of the exterior rearview mirror in a folded state according to an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the exterior rearview mirror in the deployed state provided in an embodiment of this application;

[0041] Figure 5 This is a schematic diagram of the anti-collision control device for the exterior rearview mirror provided in the embodiments of this application;

[0042] Figure 6 This is a schematic diagram of the controller provided in an embodiment of this application. Detailed Implementation

[0043] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0045] Figure 1 This diagram illustrates an application scenario of the collision avoidance control method for the exterior rearview mirror provided in this embodiment. Figure 1 As shown, the collision avoidance control system for the exterior rearview mirror includes a vehicle domain controller, an exterior rearview mirror folding motor, a first camera, a vehicle speed sensor, and a steering wheel angular velocity sensor; the exterior rearview mirror folding motor, the first camera, the vehicle speed sensor, and the steering wheel angular velocity sensor are all connected to the vehicle domain controller;

[0046] The first camera is installed in the front bumper or the inner rearview mirror housing of the target vehicle to capture images of the road surface in front of the target vehicle and send the road surface images to the vehicle domain controller.

[0047] The vehicle speed sensor is used to detect the speed of the target vehicle and send the speed to the vehicle body domain controller;

[0048] The steering wheel angular velocity sensor is used to detect the steering wheel angular velocity and send it to the vehicle body domain controller;

[0049] The vehicle domain controller controls the exterior rearview mirror folding motor to fold or unfold the exterior rearview mirrors based on the road image, driving speed, and steering wheel angular velocity.

[0050] See Figure 2 The diagram illustrates the implementation flowchart of the collision avoidance control method for the exterior rearview mirror provided in this application embodiment. The execution entity of this method is the aforementioned vehicle domain controller, which is described in detail below:

[0051] S101: Obtain the target vehicle's speed and steering wheel angular velocity in the current cycle.

[0052] In this embodiment, the vehicle domain controller acquires the driving speed sent by the vehicle speed sensor and the steering wheel angular velocity sent by the steering wheel angular velocity sensor according to a preset cycle.

[0053] S102: Obtain the road surface condition of the road segment where the target vehicle is traveling, and determine the friction coefficient between the tires and the road surface of the target vehicle based on the road surface condition.

[0054] In this embodiment, the vehicle domain controller acquires road surface images sent by the first camera and identifies the corresponding road surface conditions based on the images. Road surface conditions may include material information such as concrete, asphalt / gravel, and compacted surfaces, as well as state information such as dry, slippery, and icy conditions. The coefficient of friction between the tire and the road surface differs under different road surface conditions. This application can pre-store the correspondence between road surface conditions and friction coefficients in the vehicle controller, and then determine the friction coefficient corresponding to the target vehicle on the current road segment based on the road surface condition of the current road segment and the correspondence between road surface conditions and friction coefficients.

[0055] S103: Calculate the tire slip limit value for the current cycle based on the steering wheel angular velocity and the friction coefficient.

[0056] In this embodiment, the vehicle has different maximum safe speed limits under different actual conditions, i.e., tire slippage limits. Once the vehicle's speed exceeds the tire slippage limit, slippage is highly likely, and the exterior rearview mirrors will be at risk of collision.

[0057] S104: If the driving speed in the current cycle is greater than the tire slippage limit value in the current cycle, then control the exterior rearview mirrors of the target vehicle to switch to a folding state.

[0058] In this embodiment, if the driving speed in the current cycle exceeds the tire slippage limit for the current cycle, the vehicle domain controller sends a folding signal to the exterior rearview mirror folding motor. The exterior rearview mirror folding motor then moves the exterior rearview mirror to a folded state according to the folding signal. Figure 3 As shown, Figure 3 The diagram shows the exterior rearview mirrors in a folded state. If the driving speed in the current cycle does not exceed the tire slippage limit for the current cycle, the vehicle domain controller will not activate, and the exterior rearview mirrors will remain unfolded. Figure 4 As shown, Figure 4 A schematic diagram showing the exterior rearview mirror in the deployed state is shown.

[0059] Specifically, after the vehicle's domain controller controls the exterior rearview mirrors of the target vehicle to be folded, the driver can unfold the exterior rearview mirrors using the mechanical control buttons on the mirrors as needed.

[0060] Using the above method, this application can predict whether there is a risk of skidding on the vehicle based on the vehicle's current driving speed and tire slippage limit, and fold the exterior rearview mirrors in time when there is a risk of skidding, avoiding the situation where the exterior rearview mirrors are not folded in time when an obstacle is detected, thus improving the collision avoidance effect of the exterior rearview mirrors.

[0061] In one possible implementation, the specific implementation process of S103 includes:

[0062] The steering angle of the target vehicle's steering wheels in the current cycle is calculated based on the steering wheel angular velocity in the current cycle.

[0063] The tire slippage limit value for the current cycle is calculated based on the steering angle of the target vehicle's steering wheel in the current cycle and the friction coefficient.

[0064] In this embodiment, the vehicle domain controller can calculate the steering wheel rotation angle of the current cycle based on the steering wheel angular velocity of the current cycle. Since the steering wheel rotation angle is related to the steering wheel angle of the target vehicle, the steering wheel angle can be calculated from the steering wheel angle.

[0065] Specifically, the steering wheels of the target vehicle are usually the front wheels, so this embodiment can calculate the front wheel steering angle of the target vehicle based on the steering wheel angular velocity of the current cycle.

[0066] In one possible implementation, calculating the tire slippage limit value for the current cycle based on the steering angle of the target vehicle's steering wheels in the current cycle and the coefficient of friction includes:

[0067] By inputting the front wheel steering angle and the friction coefficient of the vehicle in the current cycle into the slip limit value calculation formula, the tire slip limit value of the current cycle is obtained.

[0068] The formula for calculating the slippage limit value includes:

[0069]

[0070] Where ε represents the tire slippage limit, g represents gravitational acceleration, μ represents the coefficient of friction, L represents the wheelbase of the target vehicle, and θ represents the steering angle of the target vehicle's steering wheel in the current cycle.

[0071] In one possible implementation, the calculation of the steering angle of the target vehicle's steering wheels in the current cycle based on the steering wheel angular velocity of the current cycle includes:

[0072] The steering angle of the target vehicle's steering wheels in the current cycle is calculated using the steering angle calculation formula.

[0073] The formula for calculating the steering angle includes:

[0074]

[0075] Where θ represents the steering angle of the target vehicle's steering wheel in the current cycle, k represents the angle conversion coefficient between the steering wheel and the steering wheel; ω represents the steering wheel angular velocity, and t represents the duration of a single cycle.

[0076] For example, for every 1° the steering wheel turns, the steering angle of the steering wheel is 0.0648°, therefore k = 0.0648.

[0077] In one possible implementation, the road surface condition includes road surface material and weather conditions;

[0078] The specific implementation process of S102 includes:

[0079] Get the current weather conditions;

[0080] The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the friction coefficient relationship, which includes the correspondence between road surface material, weather conditions and friction coefficients.

[0081] In this embodiment, road surface conditions are closely related to weather conditions. When the weather is sunny, the road surface is usually dry; when the weather is rainy, the road surface is usually slippery; and when the weather is snowy, the road surface is usually icy. Therefore, the vehicle domain controller can obtain the current weather conditions through the onboard weather system and determine the road surface conditions based on these conditions. Specifically, weather conditions can include sunny, rainy, and snowy conditions.

[0082] Specifically, the friction coefficient relationship can be a table including road surface material, weather conditions, friction coefficient, and their corresponding relationships, or it can be a polynomial fitted based on road surface material, weather conditions, and friction coefficient. When the friction coefficient relationship is a table, the vehicle domain controller looks up the friction coefficient corresponding to the road surface material and the current weather conditions in the table; when the friction coefficient relationship is a polynomial, the vehicle domain controller inputs the obtained road surface material number and the current weather condition number into the polynomial to calculate the corresponding friction coefficient.

[0083] In one possible implementation, determining the friction coefficients corresponding to the road surface material and the current weather conditions based on the friction coefficient relationship includes:

[0084] Obtain the tire condition of the target vehicle;

[0085] Based on the condition of the tires of the target vehicle, determine the corresponding friction coefficient relationship;

[0086] The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the corresponding friction coefficient relationship.

[0087] Specifically, the condition of the tire is also related to the coefficient of friction between the tire and the ground. Therefore, in this embodiment, the corresponding coefficient of friction is determined based on the condition of the tire, the road surface material, and the weather conditions.

[0088] In one possible implementation, obtaining the tire condition of the target vehicle includes:

[0089] The mileage of the target vehicle is obtained, and the condition of the tires is determined based on the mileage of the target vehicle.

[0090] In this embodiment, when the vehicle's mileage is less than or equal to a preset mileage threshold, the body domain controller can determine that the tire is a new tire; when the vehicle's mileage exceeds the preset mileage threshold, the body domain controller can determine that the tire is an old tire. New tires and old tires correspond to different coefficients of friction.

[0091] Specifically, taking tables as an example, the friction coefficient table for new tires is shown in Table 1, and the friction coefficient table for old tires is shown in Table 2.

[0092] For example, the preset mileage threshold can be 10,000 kilometers.

[0093] Table 1

[0094]

[0095] Table 2

[0096]

[0097] This application can obtain the tire slippage limit value of a vehicle based on the condition of different tires, road surface material and weather conditions, and control the automatic folding of the exterior rearview mirrors when the vehicle speed exceeds the tire slippage limit value, which can effectively reduce the risk of damage to the exterior rearview mirrors and accidental injury to pedestrians caused by vehicle slippage.

[0098] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0099] The following are device embodiments of this application. For details not described in detail, please refer to the corresponding method embodiments described above.

[0100] Figure 5 A schematic diagram of the anti-collision control device for an exterior rearview mirror provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown, and are described in detail below:

[0101] like Figure 5 As shown, the collision avoidance control device 100 for the exterior rearview mirror includes:

[0102] The data acquisition module 110 is used to acquire the target vehicle's driving speed and steering wheel angular velocity in the current cycle;

[0103] The friction coefficient calculation module 120 is used to obtain the road surface condition of the road segment in which the target vehicle travels, and to determine the friction coefficient between the tires and the road surface of the target vehicle based on the road surface condition.

[0104] The slippage limit calculation module 130 is used to calculate the tire slippage limit value for the current cycle based on the steering wheel angular velocity and the friction coefficient for the current cycle.

[0105] The exterior rearview mirror control module 140 is used to control the exterior rearview mirror of the target vehicle to be folded if the driving speed in the current cycle is greater than the tire slippage limit value in the current cycle.

[0106] In one possible implementation, the slippage limit calculation module 130 includes:

[0107] The steering wheel steering angle calculation unit is used to calculate the steering angle of the target vehicle's steering wheels in the current cycle based on the steering wheel angular velocity in the current cycle.

[0108] The slippage limit calculation unit is used to calculate the tire slippage limit value for the current cycle based on the steering angle of the steering wheel of the target vehicle in the current cycle and the friction coefficient.

[0109] In one possible implementation, the slippage limit calculation unit specifically includes:

[0110] By inputting the front wheel steering angle and the friction coefficient of the vehicle in the current cycle into the slip limit value calculation formula, the tire slip limit value of the current cycle is obtained.

[0111] The formula for calculating the slippage limit value includes:

[0112]

[0113] Where ε represents the tire slippage limit, g represents gravitational acceleration, μ represents the coefficient of friction, L represents the wheelbase of the target vehicle, and θ represents the steering angle of the target vehicle's steering wheel in the current cycle.

[0114] In one possible implementation, the steering wheel steering angle calculation unit specifically includes:

[0115] The steering angle of the target vehicle's steering wheels in the current cycle is calculated using the steering angle calculation formula.

[0116] The formula for calculating the steering angle includes:

[0117]

[0118] Where θ represents the steering angle of the target vehicle's steering wheel in the current cycle, k represents the angle conversion coefficient between the steering wheel and the steering wheel; ω represents the steering wheel angular velocity, and t represents the duration of a single cycle.

[0119] In one possible implementation, the road surface condition includes road surface material and weather conditions;

[0120] Friction coefficient calculation module 120 includes:

[0121] Weather status acquisition unit, used to acquire current weather conditions;

[0122] The friction coefficient calculation unit is used to determine the friction coefficient corresponding to the road surface material and the current weather conditions based on the friction coefficient relationship, which includes the correspondence between road surface material, weather conditions and friction coefficient.

[0123] In one possible implementation, the friction coefficient calculation unit specifically includes:

[0124] The new and old state acquisition subunit is used to acquire the new and old state of the tires of the target vehicle;

[0125] The relationship determination unit is used to determine the corresponding friction coefficient relationship based on the tire condition of the target vehicle.

[0126] The friction coefficient acquisition subunit is used to determine the friction coefficients corresponding to the road surface material and the current weather conditions based on the corresponding friction coefficient relationship.

[0127] In one possible implementation, the sub-unit for obtaining the old and new states includes:

[0128] The mileage of the target vehicle is obtained, and the condition of the tires is determined based on the mileage of the target vehicle.

[0129] With the aforementioned anti-collision control device for the exterior rearview mirror, this application can predict whether there is a risk of skidding based on the vehicle's current driving speed and tire slippage limit, and fold the exterior rearview mirror in a timely manner when there is a risk of skidding, avoiding the situation where the exterior rearview mirror is not folded in time when an obstacle is detected, thereby improving the anti-collision effect of the exterior rearview mirror.

[0130] This application also provides a computer program product having program code that, when run in a corresponding processor, controller, computing device, or terminal, executes the steps in any of the above-described embodiments of the exterior rearview mirror anti-collision control method. Figure 2 Steps 101 to 104 are shown. Those skilled in the art will understand that the methods and apparatus proposed in the embodiments of this application can be implemented in various forms, including hardware, software, firmware, dedicated processors, or combinations thereof. Dedicated processors may include application-specific integrated circuits (ASICs), reduced instruction set computers (RISCs), and / or field-programmable gate arrays (FPGAs). The proposed methods and apparatus are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. This is typically based on a machine with a computer platform, such as one or more central processing units (CPUs), random access memory (RAM), and one or more input / output (I / O) interfaces. An operating system is also typically installed on the computer platform. The various processes and functions described herein may be part of an application program, or a portion thereof may be executed by an operating system.

[0131] Figure 6 This is a schematic diagram of the controller provided in an embodiment of this application. Figure 6As shown, the controller 6 in this embodiment includes a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, it implements the steps in the aforementioned embodiments of the collision avoidance control methods for the various exterior rearview mirrors, for example... Figure 2 Steps 101 to 104 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of modules 110 to 140 are shown.

[0132] For example, the computer program 62 can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete / implement the solution provided in this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 62 in the controller 6. For example, the computer program 62 can be divided into... Figure 4 Modules 110 to 140 are shown.

[0133] The controller 6 may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of controller 6 and does not constitute a limitation on controller 6. It may include more or fewer components than shown, or combine certain components, or different components. For example, the controller may also include input / output devices, network access devices, buses, etc.

[0134] The processor 60 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0135] The memory 61 can be an internal storage unit of the controller 6, such as a hard disk or memory of the controller 6. The memory 61 can also be an external storage device of the controller 6, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the controller 6. Furthermore, the memory 61 can include both internal storage units and external storage devices of the controller 6. The memory 61 is used to store the computer program and other programs and data required by the terminal. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0136] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0137] This embodiment also provides a vehicle that includes the controller 6 as described above.

[0138] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0139] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0140] In the embodiments provided in this application, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0143] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above-described embodiments of the anti-collision control methods for exterior rearview mirrors. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately added to or subtracted from the content as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0144] Furthermore, the features of the embodiments shown in the accompanying drawings or the various embodiments mentioned in this specification should not be construed as independent embodiments. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the accompanying drawings.

[0145] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for preventing collisions with an exterior rearview mirror, characterized in that, include: Obtain the target vehicle's speed and steering wheel angular velocity in the current cycle; The road surface condition of the target vehicle's driving section is obtained, and the friction coefficient between the target vehicle's tires and the road surface is determined based on the road surface condition. Based on the steering wheel angular velocity and the friction coefficient in the current cycle, calculate the tire slip limit value in the current cycle; If the driving speed in the current cycle is greater than the tire slippage limit in the current cycle, then the exterior rearview mirrors of the target vehicle are controlled to be switched to a folding state.

2. The anti-collision control method for exterior rearview mirrors according to claim 1, characterized in that, The calculation of the tire slippage limit value for the current cycle based on the steering wheel angular velocity and the coefficient of friction includes: The steering angle of the target vehicle's steering wheels in the current cycle is calculated based on the steering wheel angular velocity in the current cycle. The tire slippage limit value for the current cycle is calculated based on the steering angle of the target vehicle's steering wheel in the current cycle and the friction coefficient.

3. The anti-collision control method for exterior rearview mirrors according to claim 2, characterized in that, The step of calculating the tire slippage limit value for the current cycle based on the front wheel steering angle of the vehicle in the current cycle and the coefficient of friction includes: By inputting the front wheel steering angle and the friction coefficient of the vehicle in the current cycle into the slip limit value calculation formula, the tire slip limit value for the current cycle is obtained. The formula for calculating the slippage limit value includes: Where ε represents the tire slippage limit, g represents gravitational acceleration, μ represents the coefficient of friction, L represents the wheelbase of the target vehicle, and θ represents the steering angle of the target vehicle's steering wheel in the current cycle.

4. The collision avoidance control method for exterior rearview mirrors according to claim 2, characterized in that, The calculation of the steering angle of the target vehicle's steering wheels in the current cycle based on the steering wheel angular velocity of the current cycle includes: The steering angle of the target vehicle's steering wheels in the current cycle is calculated using the steering angle calculation formula. The formula for calculating the steering angle includes: Where θ represents the steering angle of the target vehicle's steering wheel in the current cycle, k represents the angle conversion coefficient between the steering wheel and the steering wheel; ω represents the steering wheel angular velocity, and t represents the duration of a single cycle.

5. The anti-collision control method for exterior rearview mirrors according to claim 1, characterized in that, The road surface condition includes road surface material and weather conditions; Determining the coefficient of friction between the tires and the road surface of the target vehicle based on the road surface conditions includes: Get the current weather conditions; The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the friction coefficient relationship, which includes the correspondence between road surface material, weather conditions and friction coefficients.

6. The anti-collision control method for exterior rearview mirrors according to claim 5, characterized in that, Determining the friction coefficients corresponding to the road surface material and the current weather conditions based on the friction coefficient relationship includes: Obtain the tire condition of the target vehicle; Based on the condition of the tires of the target vehicle, determine the corresponding friction coefficient relationship; The friction coefficients corresponding to the road surface material and the current weather conditions are determined based on the corresponding friction coefficient relationship.

7. The collision avoidance control method for exterior rearview mirrors according to claim 6, characterized in that, The step of obtaining the tire condition of the target vehicle includes: The mileage of the target vehicle is obtained, and the condition of the tires is determined based on the mileage of the target vehicle.

8. A controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the anti-collision control method for the exterior rearview mirror as described in any one of claims 1 to 7.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the anti-collision control method for the exterior rearview mirror as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, include: The controller as described in claim 8.

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