A rearview mirror control method, apparatus, system, and vehicle

Abstract

The application provides a rearview mirror control method, device, system and vehicle, and is applied to a vehicle. The method comprises the following steps: during movement of the rearview mirror from a first pose, if a power-off signal of the vehicle is detected, a position signal of the rearview mirror is periodically acquired according to a preset number of times; based on a plurality of position signals acquired periodically according to the preset number of times, a time when the rearview mirror is in a static state is determined, and a second pose of the rearview mirror; and the second pose is taken as an initial pose of the rearview mirror when the vehicle is powered on next time. According to the application, the pose of the rearview mirror at the time when the rearview mirror is in the static state is determined as the second pose of the rearview mirror after the power-off signal of the vehicle is detected, so that the initial pose of the rearview mirror when the vehicle is powered on next time is not the pose of the rearview mirror when the vehicle is powered off, which avoids the situation that the initial pose of the rearview mirror when the vehicle is powered on next time is the pose of the rearview mirror when the vehicle is powered off during the process that the rearview mirror returns to the ground position from the ground position.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a rearview mirror control method, device, system, and vehicle. Background Technology

[0002] Most vehicles on the market now have a rearview mirror position memory function. By logging into a personalized account through a camera or scanning an app with a mobile phone, the position information of the rearview mirror can be stored in the personalized account to provide a basis for automatic control the next time you drive.

[0003] However, in related technologies, once the position of the rearview mirror is memorized, the rearview mirror may automatically tilt downwards the next time the driver gets into the car. Summary of the Invention

[0004] In view of this, the present invention aims to provide a rearview mirror control method, device, system and vehicle to prevent the rearview mirror from automatically tilting down when the driver gets into the vehicle again.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A rearview mirror control method, applied to a vehicle, the control method includes:

[0007] During the process of the rearview mirror moving from the first position, if the power-down signal of the vehicle is detected, the position signal of the rearview mirror is periodically acquired according to a preset number of times.

[0008] Based on multiple position signals acquired periodically according to the preset number of times, the second pose of the rearview mirror is determined when the rearview mirror is in a stationary state.

[0009] The second pose is used as the initial pose of the rearview mirror when the vehicle is powered on again.

[0010] Furthermore, based on the periodically acquired multiple position signals, determining the moment when the rearview mirror is stationary, and the second pose of the rearview mirror, includes:

[0011] The position change trajectory of the rearview mirror is determined based on multiple position signals that are continuous in time.

[0012] Based on the position change trajectory, determine the target position signal corresponding to the end time point when the rearview mirror is in a stationary state;

[0013] Based on the target position signal, the second pose of the rearview mirror is determined.

[0014] Furthermore, each of the position signals includes position coordinates in a first direction and position coordinates in a second direction. Based on multiple time-continuous position signals, the position change trajectory of the rearview mirror is determined, including:

[0015] Based on the position coordinates of each of the multiple position signals in the first direction and the second direction, and their corresponding time, the position change trajectory of the rearview mirror is generated;

[0016] Based on the position change trajectory, the target position signal corresponding to the end time point when the rearview mirror is in a stationary state is determined, including:

[0017] Determine the turning point of the position change trajectory, wherein the position difference change between the target position signal and the adjacent position signal at the turning point is different from the position difference change between the other adjacent position signals;

[0018] Based on the target position signal, the second pose of the rearview mirror is determined.

[0019] Furthermore, if the turning point is not present in the trajectory of the position change, the second pose is the pose of the rearview mirror when the vehicle was previously in park.

[0020] Furthermore, the rearview mirror includes the vehicle's left rearview mirror and the vehicle's right rearview mirror;

[0021] Determine the second pose of the left rearview mirror and the second pose of the right rearview mirror;

[0022] The second pose of the left rearview mirror is used as the initial pose of the left rearview mirror when the vehicle is powered on again, and the second pose of the right rearview mirror is used as the initial pose of the right rearview mirror when the vehicle is powered on again.

[0023] Furthermore, the first position is the preset viewing position of the rearview mirror when the vehicle is in reverse gear;

[0024] The second position is the position of the rearview mirror when the vehicle is in any gear other than reverse.

[0025] Furthermore, the vehicle is equipped with a client application, and the control method further includes:

[0026] The second pose is sent to the client, and the client receives and saves the second pose.

[0027] Upon the next power-on start of the vehicle, the vehicle receives the second pose sent by the client, and the rearview mirror is calibrated based on the second pose.

[0028] Furthermore, based on the periodically acquired multiple position signals, when it is determined that the rearview mirror is always in motion, the second pose is the pose of the rearview mirror when the vehicle was last in park. In this case, it is not necessary to send the second pose to the client.

[0029] Compared with existing technologies, the rearview mirror control method of the present invention has the following advantages:

[0030] This invention provides a method for realizing the ground-viewing return position of a rearview mirror, applied to a vehicle. During the movement of the rearview mirror from a first position, if a power-down signal of the vehicle is detected, the position signal of the rearview mirror is periodically acquired. Based on the periodically acquired position signals, a second position of the rearview mirror is determined when it is stationary. This second position is used as the initial position of the rearview mirror when the vehicle is powered on again. This invention, upon detecting a power-down signal, periodically acquires the position signal of the rearview mirror, which includes the position coordinates of the rearview mirror in a first direction and a second direction. Based on this, the position change trajectory of the rearview mirror over a period of time can be determined. Based on this position change trajectory, the second position of the rearview mirror when it is stationary can be determined, which is the initial position of the rearview mirror when the vehicle is powered on again. This avoids the situation where the vehicle power-down occurs during the rearview mirror's return from the ground-viewing position to the ground-viewing return position, resulting in the initial position of the rearview mirror being the same as its position when power-down occurred upon the next power-on, thus improving the user experience.

[0031] Another objective of this invention is to provide a rearview mirror control device to prevent the rearview mirror from automatically tilting down when the driver gets into the vehicle again.

[0032] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0033] A rearview mirror control device, applied to a vehicle, the control device comprising:

[0034] The position signal acquisition module is used to periodically acquire the position signal of the rearview mirror according to a preset number of times during the process of the rearview mirror moving from the first position.

[0035] The pose determination module is used to determine the second pose of the rearview mirror at the moment when the rearview mirror is stationary, based on multiple position signals acquired periodically according to the preset number of times.

[0036] A memory module is used to use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again.

[0037] The advantages of the device and the method described above over the prior art are the same, and will not be repeated here.

[0038] Another objective of this invention is to provide a rearview mirror control system to prevent the rearview mirror from automatically tilting down when the driver gets into the vehicle again.

[0039] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0040] A rearview mirror control system, applied to a vehicle, the control system comprising:

[0041] Battery, processor unit, and control unit;

[0042] The battery is connected to the processor unit and the control unit, and is used to supply power to the processor unit and the control unit;

[0043] The processor unit is connected to the control unit and includes multiple processors. Each processor is connected to a sensor. The sensor is used to periodically acquire the position signal of the rearview mirror according to a preset number of times if the control unit detects the power-down signal of the vehicle during the process of the rearview mirror moving from the first position.

[0044] The control unit is used to determine the moment when the rearview mirror is stationary and the second pose of the rearview mirror based on multiple position signals acquired periodically according to the preset number of times, and to use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again.

[0045] The advantages of the system and the method described above over the prior art are the same, and will not be repeated here.

[0046] Another objective of this invention is to provide a vehicle that prevents the rearview mirrors from automatically tilting down when the driver gets in the vehicle again.

[0047] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0048] A vehicle includes a control module for implementing the above control method, or includes the above control system.

[0049] The vehicle described above has the same advantages over the prior art as the method described above, which will not be elaborated here. Attached Figure Description

[0050] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0051] Figure 1 This is a flowchart illustrating the steps of a rearview mirror control method according to an embodiment of the present invention.

[0052] Figure 2 This is a block diagram of a rearview mirror control device according to an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of a rearview mirror control system according to an embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the structure of a processor according to an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of another rearview mirror control system structure according to an embodiment of the present invention.

[0056] Reference numerals: 301, battery; 302, processor unit; 3021, first processor; 3022, second processor; 303, control unit; 304, central control screen; 305, switch; 306, ESP (Electronic Stability Program); 307, TCU (Transmission Control Unit). Detailed Implementation

[0057] It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0058] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0059] In related technologies, when the rearview mirror is returning from the ground-viewing position in reverse gear to the ground-viewing return position in park gear, the driver performs a power-off operation. At this time, the position of the rearview mirror will be automatically memorized. That is, the position of the rearview mirror when the power is off will be memorized into the personalized account, so that when the driver gets back into the car, the position will be automatically recalled, causing the rearview mirror to tilt down.

[0060] In view of this, embodiments of the present invention propose a method for realizing the return position of a rearview mirror reflecting the ground, applied to a vehicle, as shown below. Figure 1 , Figure 1 The following is a flowchart illustrating the steps of a method for achieving a rearview mirror's ground-illumination return position according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0061] Step S101: During the process of the rearview mirror moving from the first position, if the power-down signal of the vehicle is detected, the position signal of the rearview mirror is periodically acquired according to a preset number of times.

[0062] Among them, the pose is a set of position and direction. The first pose can be the preset position of the rearview mirror when the vehicle is in reverse gear, that is, the preset position and preset direction of the rearview mirror when the vehicle is in reverse gear. When the rearview mirror starts to move from the first pose, it indicates that the vehicle changes from reverse gear to park gear, that is, the rearview mirror moves from the position of the reflective pose to the position of the ground return pose. The position of the ground return pose is the pose of the rearview mirror when the vehicle is in park gear. At this time, if the power-down signal of the vehicle is detected, the position signal of the rearview mirror is periodically acquired.

[0063] Because the rearview mirror has a reaction time, its position signal is acquired periodically after a 200ms delay to ensure accurate acquisition. Alternatively, the position signal can be acquired at 100ms intervals. In practice, sensors can be used to acquire the rearview mirror's position signal. The type of sensor can be selected based on the specific situation, such as commonly used position sensors including contact sensors and proximity sensors; this invention does not impose any specific limitations.

[0064] The preset number of times can be set according to the actual cycle time. Since the cycle time is 100ms in this embodiment of the invention, in order to avoid the position signal acquisition process taking too long and resulting in inaccurate position signal, the preset number of times is set to 4-6 times in the specific implementation.

[0065] Step S102: Based on multiple position signals acquired periodically according to the preset number of times, determine the second pose of the rearview mirror when it is stationary.

[0066] After a preset number of cycles, multiple position signals can be obtained. For example, the preset number of cycles is set to 5, that is, after 5 cycles, 5 position signals are obtained. Based on these position signals, the moment when the rearview mirror is stationary can be determined. The position of the rearview mirror at this moment is the second position.

[0067] The second position refers to the position of the rearview mirror when the vehicle is in any gear other than reverse. In this embodiment of the invention, it can specifically be the position of the rearview mirror when the vehicle is in park.

[0068] Step S103: Use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again.

[0069] After determining the second position of the rearview mirror—that is, the position of the rearview mirror when the vehicle is in a parked position—this second position is used as the initial position of the rearview mirror when the vehicle is powered on again. This avoids immediately memorizing the rearview mirror's position when the vehicle is powered off; instead, it only memorizes the position when the rearview mirror is stationary. From the position of the rearview mirror when stationary, its exact location can be determined. This ensures that when the driver performs a power-off operation, the rearview mirror's position is not immediately memorized, but rather its position when it stops—that is, the position when the vehicle is in a parked position. This prevents the rearview mirror from automatically tilting down when the driver gets back into the vehicle.

[0070] In another optional implementation, based on multiple position signals acquired periodically according to the preset number of times, the second pose of the rearview mirror at the moment when the rearview mirror is stationary is determined, including:

[0071] The position change trajectory of the rearview mirror is determined based on multiple position signals that are continuous in time.

[0072] Based on the position change trajectory, determine the target position signal corresponding to the end time point when the rearview mirror is in a stationary state;

[0073] Based on the target position signal, the second pose of the rearview mirror is determined.

[0074] Multiple position signals acquired periodically according to a preset number of times are consecutive position signals acquired within a certain period of time. By arranging these position signals in chronological order, the position change trajectory of the rearview mirror can be determined. Based on this position change trajectory, the target position signal corresponding to the end time point when the rearview mirror is in a stationary state can be determined. Based on the target position signal, the second pose of the rearview mirror can be determined, thereby determining the current position of the rearview mirror.

[0075] In another optional implementation, each position signal includes position coordinates in a first direction and position coordinates in a second direction. Based on multiple time-continuous position signals, determining the position change trajectory of the rearview mirror includes:

[0076] Based on the position coordinates of each of the multiple position signals in the first direction and the second direction, and their corresponding time, the position change trajectory of the rearview mirror is generated;

[0077] Based on the position change trajectory, the target position signal corresponding to the end time point when the rearview mirror is in a stationary state is determined, including:

[0078] determining a turning point of the position change trajectory, wherein a change in position difference between a target position signal corresponding to the turning point and an adjacent position signal is different from a change in position difference between the remaining adjacent position signals;

[0079] determining a second pose of the rearview mirror based on the target position signal.

[0080] wherein the position coordinate in the first direction may be a position coordinate of the rearview mirror in the X direction, and the position coordinate in the second direction may be a position coordinate of the rearview mirror in the Y direction, so that the position change trajectory of the rearview mirror is generated according to the position coordinates of each of the plurality of position signals in the X direction and the Y direction and the corresponding time respectively.

[0081] Therefore, the turning point of the position change trajectory can be determined according to the position change trajectory of the rearview mirror, wherein the change in position difference between the target position signal corresponding to the turning point and the adjacent position signal is different from the change in position difference between the other adjacent position signals. For example, after 5 cycles, 5 position signals are obtained, which are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) in chronological order, wherein X1>X2>X3>X4=X5, and Y1>Y2>Y3>Y4=Y5 or Y1<Y2<Y3<Y4=Y5, then (X4, Y4) is the target position signal corresponding to the turning point. According to the target position signal, it can be known that the rearview mirror is in a stationary state at this time, so the second pose of the rearview mirror can be determined, which avoids immediately memorizing the pose of the rearview mirror when the vehicle is powered off, and instead memorizes the pose of the rearview mirror only when it is determined that the rearview mirror is in a stationary state. According to the pose of the rearview mirror in the stationary state, the position of the rearview mirror in the stationary state can be known, that is, it ensures that when the driver performs a power-off operation, the position of the rearview mirror at the time of power-off is not immediately memorized, but the position when the rearview mirror stops, that is, the position of the rearview mirror when the vehicle is in the parking gear, thereby avoiding the situation that the rearview mirror automatically tilts down when the driver gets on the vehicle again.

[0082] In another optional embodiment, the method further comprises:

[0083] in a case where there is no said turning point in said position change trajectory, said second pose is a pose of said rearview mirror when said vehicle was last in a parking gear.

[0084] In practice, after 5 cycles, the position coordinates of 5 position signals in the X direction and Y direction are obtained, that is, the position change trajectory of the rearview mirror. Among them, the position difference change between adjacent position signals may have the following conditions: X1>X2>X3>X4>X5, and Y1>Y2>Y3>Y4>Y5 or Y1<Y2<Y3<Y4<Y5, which indicates that there is no turning point in the position change trajectory, that is, the rearview mirror has been in a moving state during this period of time. In this case, the pose of the rearview mirror when the vehicle was last in the parking gear is directly taken as the second pose. Since the pose of the rearview mirror is the same every time it is in the parking gear, there is no need to memorize the pose of the rearview mirror, and thus no need to memorize the position of the rearview mirror. In this way, even if the driver performs a power-off operation when the rearview mirror is returning from the ground-facing position to the ground-facing return position, since the position is not memorized during power-off, the situation that the rearview mirror automatically tilts down when the driver gets on the vehicle again will not occur.

[0085] In another alternative embodiment, the rearview mirrors include a left rearview mirror of the vehicle and a right rearview mirror of the vehicle;

[0086] determining a second pose of the left rearview mirror and a second pose of the right rearview mirror;

[0087] taking the second pose of the left rearview mirror as the initial pose of the left rearview mirror when the vehicle is powered on next time, and taking the second pose of the right rearview mirror as the initial pose of the right rearview mirror when the vehicle is powered on next time.

[0088] In the embodiment of the present invention, the rearview mirrors include the left rearview mirror and the right rearview mirror of the vehicle, so it is necessary to determine the second pose of the left rearview mirror and the right rearview mirror, that is, determine the respective poses of the left rearview mirror and the right rearview mirror when they are in a stationary state, and determine the positions of the two rearview mirrors when they are in a stationary state according to their poses in the stationary state. In this way, the situation that both the left rearview mirror and the right rearview mirror automatically tilt down when the driver gets on the vehicle again caused by the driver performing a power-off operation when the left rearview mirror and the right rearview mirror are returning from the ground-facing position to the ground-facing return position can be avoided.

[0089] In another alternative embodiment, the first pose is a preset ground-facing pose of the rearview mirror when the vehicle is in reverse gear;

[0090] the second pose is a pose of the rearview mirror when the vehicle is in gears other than the reverse gear.

[0091] wherein the first pose can be preset according to the driver's personal conditions, and the specific process is as follows:

[0092] When the vehicle's power is ON and the current speed is less than 7 km / h, after shifting to reverse, the driver can adjust the left or right rearview mirror by rotating a switch located on the left front window for easy driver operation or by touching a button on the vehicle's central control screen. This sets the positioning of both rearview mirrors when the vehicle is in reverse. The next time the driver reverses, the rearview mirrors will automatically rotate to the preset positioning.

[0093] The second position refers to the position of the rearview mirror when the vehicle is in any gear other than reverse, specifically the position of the rearview mirror when the vehicle is in park. This way, when the driver turns off the vehicle, the position of the rearview mirror when the vehicle is in park is memorized, thus preventing the rearview mirror from automatically tilting down when the driver gets back into the vehicle.

[0094] In another alternative implementation, the vehicle is equipped with a client, and the control method further includes:

[0095] The second pose is sent to the client, and the client receives and saves the second pose.

[0096] Upon the next power-on start of the vehicle, the vehicle receives the second pose sent by the client, and the rearview mirror is calibrated based on the second pose.

[0097] The vehicle is equipped with a client application that supports different users logging in. The client can remember and save the rearview mirror positions set by each user under different conditions. For example, the rearview mirror position adjusted by user A when the vehicle is in reverse gear, i.e., the first position and the second position of the rearview mirror. The specific process is as follows:

[0098] User A logs into the client. At this time, the vehicle's power mode is ON, and the current vehicle speed is less than 7km / h. After shifting the gear to reverse, User A adjusts the left or right rearview mirror by rotating the switch on the vehicle or touching the button on the vehicle's central control screen. The left or right rearview mirror is moved to the left, right, up, or down. The first position of the two rearview mirrors when the vehicle is in reverse is set. The first position is sent to the client, which receives and saves the first position. When User A reverses next time, the rearview mirrors will automatically flip to the preset first position.

[0099] After User A finishes reversing and stops the vehicle (i.e., User A shifts the gear from reverse to park), the rearview mirror moves from the first position towards the ground-facing return position, i.e., towards the position where the vehicle is in park. During this process, User A performs a power-off operation. At this time, a power-off signal is detected, and after 5 cycles, 5 position signals of the rearview mirror are acquired. Each position signal includes the coordinates in the X and Y directions, which are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), and (X5, Y5) in chronological order. Based on these position signals, the position change trajectory of the rearview mirror is generated, and its turning point is determined. The positional differences between adjacent position signals are as follows: X1>X2>X3>X4=X5, and Y1>Y2>Y3>Y4=Y5. This indicates that (X4, Y4) is the target position signal at the turning point. Based on this target position signal, the second pose of the rearview mirror is determined and sent to the client. The client receives and saves this second pose, so that when the vehicle is powered on and started again, the vehicle receives the second pose sent by the client, and the rearview mirror is then calibrated based on the second pose. However, the second pose is usually the pose of the rearview mirror when the vehicle is in the park position. Therefore, in practice, the rearview mirror does not need to be changed when the vehicle is powered on and started again (it is the same as the pose when the vehicle was parked last time).

[0100] In another alternative implementation, users can also memorize the position of the rearview mirror by manually triggering the memory function button on the vehicle's multimedia screen, without having to log in to the client.

[0101] In another alternative implementation, the control method further includes:

[0102] Based on the periodically acquired multiple position signals, when it is determined that the rearview mirror is always in motion, the second pose is the pose of the rearview mirror when the vehicle was last in park. In this case, it is not necessary to send the second pose to the client.

[0103] After 5 cycles, 5 position signals are obtained. Among them, the change in position difference between adjacent position signals may have the following condition: X1>X2>X3>X4>X5, and Y1>Y2>Y3>Y4>Y5 or Y1<Y2<Y3<Y4<Y5, which indicates that there is no turning point in the position change trajectory, that is, the rearview mirror has been in a moving state during this period of time. In this case, the posture that the rearview mirror was in when the vehicle was last in park is directly taken as the second posture. Since the postures of the rearview mirror are the same every time it is in park, the client does not need to memorize the posture of the rearview mirror anymore, and thus does not need to memorize the position of the rearview mirror. In this way, even if the driver performs a power-off operation during the process of the rearview mirror returning from the ground-viewing position to the ground-viewing return position, since the position is not memorized during power-off, the situation that the rearview mirror automatically tilts down when getting in the vehicle again will not occur.

[0104] In the embodiment of the present invention, when a vehicle power-off signal is detected, the position signals of the rearview mirror are periodically acquired, wherein the position signals include position coordinates of the rearview mirror in a first direction and position coordinates in a second direction. Based on this, the position change trajectory of the rearview mirror within a period of time can be determined, and based on the position change trajectory, the second posture of the rearview mirror when it is in a stationary state can be determined, and this second posture is the initial posture of the rearview mirror when the vehicle is powered on next time. This prevents the situation that the initial posture of the rearview mirror when the vehicle is powered on next time is the posture of the rearview mirror at the time of power-off caused by vehicle power-off during the process of the rearview mirror returning from the ground-viewing position to the ground-viewing return position, thereby improving user experience.

[0105] Based on the same inventive concept, an embodiment of the present invention also provides a rearview mirror control device applied to a vehicle, with reference to Figure 2 , Figure 2 a block diagram of a device for realizing a ground-viewing return position of a rearview mirror according to an embodiment of the present invention is shown, as Figure 2 shown, the control device comprises:

[0106] a position signal acquiring module 201, configured to, when the rearview mirror starts moving from a first posture, if a power-off signal of the vehicle is detected, periodically acquire position signals of the rearview mirror according to a preset number of times.

[0107] wherein the first posture may be a preset ground-viewing posture of the rearview mirror when the vehicle is in reverse gear. When the rearview mirror starts moving from the first posture, it indicates that the vehicle is shifted from reverse gear to park, that is, the rearview mirror moves from the ground-viewing posture to the ground-viewing return posture, wherein the ground-viewing return posture is the posture of the rearview mirror when the vehicle is in park. At this time, if the power-off signal of the vehicle is detected, the position signal acquiring module 201 periodically acquires the position signals of the rearview mirror.

[0108] Because the rearview mirror has a reaction time, in order to accurately obtain the rearview mirror's position signal, the position signal acquisition module 201 periodically acquires the rearview mirror's position signal after a 200ms delay. The position signal can be acquired at 100ms intervals per cycle. In specific implementations, the position signal of the rearview mirror is acquired by a sensor configured in the signal acquisition module 201. The type of sensor can be selected according to the actual situation; for example, commonly used position sensors include contact sensors and proximity sensors. This invention does not impose specific limitations.

[0109] The preset number of times can be set according to the actual cycle time. Since the cycle time is 100ms in this embodiment of the invention, in order to avoid the position signal acquisition process taking too long and resulting in inaccurate position signal, the preset number of times is set to 4-6 times in the specific implementation.

[0110] The pose determination module 202 is used to determine the second pose of the rearview mirror at the moment when the rearview mirror is stationary, based on the multiple position signals acquired periodically.

[0111] After a preset number of cycles, the position signal acquisition module 201 can acquire multiple position signals. For example, the preset number of cycles is set to 5, that is, the position signal acquisition module 201 obtains 5 position signals after 5 cycles. Based on these position signals, the pose determination module 202 can determine the moment when the rearview mirror is stationary. The pose of the rearview mirror at this moment is the second pose.

[0112] The second position refers to the position of the rearview mirror when the vehicle is in any gear other than reverse. In this embodiment of the invention, it can specifically be the position of the rearview mirror when the vehicle is in park.

[0113] The memory module 203 is used to use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again.

[0114] After the pose determination module 202 determines the second pose of the rearview mirror, that is, after determining the pose of the rearview mirror when the vehicle is in the parking position, the memory module 203 uses this second pose as the initial pose of the rearview mirror when the vehicle is powered on again. This avoids immediately memorizing the rearview mirror's pose when the vehicle is powered off, but rather memorizing it only when the rearview mirror is determined to be stationary. From the pose of the rearview mirror when stationary, its position at that point can be determined, ensuring that when the driver performs a power-off operation, the rearview mirror's position at that time is not immediately memorized, but rather its position when it stops, i.e., the position of the rearview mirror when the vehicle is in the parking position. This prevents the rearview mirror from automatically tilting down when the driver gets back into the vehicle.

[0115] Based on the same inventive concept, an embodiment of the present invention provides a rearview mirror control system applied to a vehicle, as described below. Figure 3 , Figure 3 A schematic diagram of a control system for a rearview mirror according to an embodiment of the present invention is shown, as follows: Figure 3 As shown, the control system includes:

[0116] Battery 301, processor unit 302, and control unit 303;

[0117] The storage battery 301 is connected to the processor unit 302 and the control unit 303, and is used to supply power to the processor unit 302 and the control unit 303;

[0118] The processor unit 302 is connected to the control unit 303 and includes multiple processors (not shown in the figure). Each processor is connected to a sensor. The sensor is used to periodically acquire the position signal of the rearview mirror according to a preset number of times if the control unit 303 detects the power-down signal of the vehicle during the process of the rearview mirror moving from the first position.

[0119] The control unit 303 is used to determine the moment when the rearview mirror is in a stationary state and the second position of the rearview mirror based on multiple position signals acquired periodically according to the preset number of times, and to use the second position as the initial position of the rearview mirror when the vehicle is powered on again.

[0120] The processor can also be used to control the position and orientation of the rearview mirrors; its specific settings are detailed in [reference needed]. Figure 4 , Figure 4 A schematic diagram of the structure of a processor according to an embodiment of the present invention is shown, as follows: Figure 4 As shown, the processor is powered by a 30A battery and connected to the control unit 303 (not shown) via CAN (Controller Area Network). It is also connected to two sensors to acquire the position signals of the rearview mirror in the X and Y directions by detecting voltage, thereby determining the position coordinates of the rearview mirror in the X and Y directions. Both sensors are powered by the same power supply. Furthermore, the processor is connected to two motors: one motor controls the rearview mirror to move up or down, and the other motor controls the rearview mirror to move left or right. In this way, the processor can not only control the rearview mirror to change its posture but also detect and acquire the position signals of the rearview mirror.

[0121] In practical implementation, the control system can be configured as follows:

[0122] Reference Figure 5 , Figure 5This diagram illustrates another system structure for achieving the ground-illuminating return position of the rearview mirror according to the present invention. Figure 5 As shown, the system includes a first processor 3021, a second processor 3022, a control unit 303, a central control screen 304, a switch 305, an ESP 306, and a TCU 307. The first processor 3021 controls the position and orientation of the left rearview mirror and detects and acquires its position signal. The second processor 3022 controls the position and orientation of the right rearview mirror and detects and acquires its position signal. Except for the switch 305, which is connected to the control unit 303 via LIN, all other parts of the system are connected to the control unit 303 via CAN.

[0123] The present invention will now be illustrated by a specific example:

[0124] After User A logs into the client, the vehicle's power mode is ON. Simultaneously, the ESP 306 detects that the vehicle's current speed is less than 7 km / h. The TCU 307 shifts the gear to reverse according to the user's operation. The user then rotates the switch 305 (located on the left front window for driver convenience) or touches a button on the vehicle's central control screen 304 to send a control signal to adjust the left or right rearview mirror's movement to the left, right, up, or down. The control unit 303 receives the control signal and sends it to the first processor 3021 or the second processor 3022. The first processor 3021 or the second processor 3022 controls the left or right rearview mirror to move according to the control signal. After the movement is complete, the left or right rearview mirror's position is the first position. The left or right rearview mirror sends the first position to the control unit 303, which receives it and sends it to the client. The client receives and saves the first position. Thus, when User A reverses next time, the rearview mirror will automatically flip to the preset first position.

[0125] After User A completes reversing and parks the vehicle, that is, the TCU 307 switches the gear from reverse gear to parking gear according to the operation of User A, and the rearview mirror moves from the first posture to the ground-viewing return posture, that is, moves to the posture that the rearview mirror is in when the vehicle is in parking gear. During this process, User A performs a power-off operation, and at this time, the control unit 303 detects a power-off signal. The first processor 3021 or the second processor 3022 acquires 5 position signals over 5 cycles, each of which includes coordinate positions in the X direction and Y direction, which are (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4), (X5, Y5) in chronological order. The control unit 303 generates a position change track of the left rearview mirror or the right rearview mirror based on these position signals and determines its turning point. Wherein, the change of position difference between adjacent position signals is: X1>X2>X3>X4=X5, and Y1>Y2>Y3>Y4=Y5, which indicates that (X4, Y4) is the target position signal corresponding to the turning point. The control unit 303 determines the second posture of the left rearview mirror or the right rearview mirror based on the target position signal. After the second postures of both the left rearview mirror and the right rearview mirror are determined, the second postures of the two rearview mirrors are sent to the client, and the client receives and stores the second postures in memory. Therefore, when the vehicle is powered on and started next time, the vehicle receives the second postures sent by the client, and then the left rearview mirror and the right rearview mirror are calibrated based on their respective second postures respectively. However, the second posture is usually the posture of the rearview mirrors when the vehicle is in parking gear. Therefore, in actual situations, when the vehicle is powered on and started next time, both rearview mirrors do not need to be adjusted (they are the same as the postures they were in when the vehicle was parked last time).

[0126] In addition, the first processor 3021 or the second processor 3022 obtains 5 position signals after 5 cycles, wherein, the change of position difference between adjacent position signals may be as follows: X1>X2>X3>X4>X5, and Y1>Y2>Y3>Y4>Y5 or Y1<Y2<Y3<Y4<Y5, which indicates that there is no turning point in the position change track, that is, the left rearview mirror or the right rearview mirror has been in motion during this period of time. At this time, the control unit 303 directly takes the posture of the left rearview mirror or the right rearview mirror when the vehicle was in parking gear last time as the second posture. Since the posture of the rearview mirrors when they are in parking gear is the same every time, the control unit 303 does not send the second posture to the client, and the client does not need to memorize the postures of the two rearview mirrors, nor does it need to memorize the positions of the two rearview mirrors. In this way, even if the driver performs a power-off operation while the rearview mirrors are returning from the ground-viewing position to the ground-viewing return position, since the position is not memorized during power-off, the situation that the rearview mirrors automatically tilt down when getting on the vehicle again will not occur.

[0127] Based on the same inventive concept, embodiments of the present invention also propose a vehicle, including a control module for implementing the above-described control method, or including the above-described control system.

[0128] For the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0129] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0130] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0131] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0132] It should also be noted that, in this document, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor should they be construed as indicating or implying relative importance. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0133] The technical solution provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand this invention, and the content of this specification should not be construed as a limitation of this invention. Furthermore, for those skilled in the art, there will be different forms of changes in the specific implementation methods and application scope based on this invention. It is neither necessary nor possible to exhaustively list all implementation methods here, but obvious changes or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A rearview mirror control method, characterized in that, Applied to vehicles, the control method includes: During the process of the rearview mirror moving from the first position, if the power-down signal of the vehicle is detected, the position signal of the rearview mirror is periodically acquired according to a preset number of times. Based on multiple position signals acquired periodically according to the preset number of times, the second pose of the rearview mirror is determined when the rearview mirror is in a stationary state. The second pose is used as the initial pose of the rearview mirror when the vehicle is powered on again. The determination of the moment when the rearview mirror is stationary, based on the periodically acquired multiple position signals, and the second pose of the rearview mirror, includes: The position change trajectory of the rearview mirror is determined based on multiple position signals that are continuous in time. Based on the position change trajectory, determine the target position signal corresponding to the end time point when the rearview mirror is in a stationary state; Based on the target position signal, the second pose of the rearview mirror is determined; Each of the position signals includes position coordinates in a first direction and position coordinates in a second direction. Based on multiple position signals that are consecutive in time, the position change trajectory of the rearview mirror is determined, including: Based on the position coordinates of each of the multiple position signals in the first direction and the second direction, and their corresponding time, the position change trajectory of the rearview mirror is generated; Based on the position change trajectory, the target position signal corresponding to the end time point when the rearview mirror is in a stationary state is determined, including: Determine the turning point of the position change trajectory, wherein the position difference change between the target position signal and the adjacent position signal at the turning point is different from the position difference change between the other adjacent position signals.

2. The control method according to claim 1, characterized in that, The control method further includes: If the inflection point is not present in the trajectory of the position change, the second pose is the pose of the rearview mirror when the vehicle was last in park.

3. The control method according to any one of claims 1-2, characterized in that, The rearview mirrors include the left rearview mirror and the right rearview mirror of the vehicle. Determine the second pose of the left rearview mirror and the second pose of the right rearview mirror; The second pose of the left rearview mirror is used as the initial pose of the left rearview mirror when the vehicle is powered on again, and the second pose of the right rearview mirror is used as the initial pose of the right rearview mirror when the vehicle is powered on again.

4. The control method according to claim 1, characterized in that, The vehicle is equipped with a client application, and the control method further includes: The second pose is sent to the client, and the client receives and saves the second pose. Upon the next power-on start of the vehicle, the vehicle receives the second pose sent by the client, and the rearview mirror is calibrated based on the second pose.

5. The control method according to claim 1, characterized in that, The first position is the preset shooting position of the rearview mirror when the vehicle is in reverse gear; The second position is the position of the rearview mirror when the vehicle is in any gear other than reverse.

6. The control method according to claim 4, characterized in that, The control method further includes: Based on the periodically acquired multiple position signals, when it is determined that the rearview mirror is always in motion, the second pose is the pose of the rearview mirror when the vehicle was last in park. In this case, it is not necessary to send the second pose to the client.

7. A rearview mirror control device, characterized in that, Applied to vehicles, the control device includes: The position signal acquisition module is used to periodically acquire the position signal of the rearview mirror a preset number of times if a power-down signal of the vehicle is detected during the process of the rearview mirror moving from the first position. The pose determination module is used to determine the second pose of the rearview mirror at the moment when the rearview mirror is stationary, based on multiple position signals acquired periodically according to the preset number of times. A memory module is used to use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again. Specifically, the pose determination module is used to determine the position change trajectory of the rearview mirror based on multiple position signals that are continuous over time; to determine the target position signal corresponding to the end time point when the rearview mirror is in a stationary state based on the position change trajectory; and to determine the second pose of the rearview mirror based on the target position signal. Each of the position signals includes position coordinates in a first direction and position coordinates in a second direction. The pose determination module is specifically used to generate the position change trajectory of the rearview mirror based on the position coordinates of each of the multiple position signals in the first and second directions and their corresponding times; and to determine the turning point of the position change trajectory, wherein the position difference change between the target position signal at the turning point and the adjacent position signal is different from the position difference change between the other adjacent position signals.

8. A rearview mirror control system, characterized in that, Applied to vehicles, the control system includes: Battery, processor unit, and control unit; The battery is connected to the processor unit and the control unit, and is used to supply power to the processor unit and the control unit; The processor unit is connected to the control unit and includes multiple processors. Each processor is connected to a sensor. The sensor is used to periodically acquire the position signal of the rearview mirror if the control unit detects a power-down signal of the vehicle during the process of the rearview mirror moving from the first position. The control unit is used to determine the moment when the rearview mirror is stationary and the second pose of the rearview mirror based on the multiple position signals acquired periodically, and to use the second pose as the initial pose of the rearview mirror when the vehicle is powered on again. Specifically, the control unit is used for: Based on multiple time-continuous position signals, the position change trajectory of the rearview mirror is determined; based on the position change trajectory, the target position signal corresponding to the end time point when the rearview mirror is in a stationary state is determined; based on the target position signal, the second pose of the rearview mirror is determined. Each of the position signals includes position coordinates in a first direction and position coordinates in a second direction. The control unit is further configured to: Based on the position coordinates of each of the multiple position signals in the first and second directions, and their corresponding times, a position change trajectory of the rearview mirror is generated; the turning point of the position change trajectory is determined, wherein the position difference change between the target position signal and the adjacent position signal at the turning point is different from the position difference change between the other adjacent position signals.

9. A vehicle, characterized in that, It includes a control module for implementing the control method according to any one of claims 1-6, or includes the control system according to claim 8.

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