Method and device for judging blocking rotation of automobile rearview mirror, medium and equipment

Abstract

The application relates to the field of computer models and discloses a method and device for judging stalling of a rearview mirror of a vehicle, a medium and equipment. The method comprises the following steps: according to the adjusting direction of each shaft, acquiring the current position of the rearview mirror on the shaft every preset time interval during the process of adjusting the initial position of the rearview mirror on the shaft to a target position; assigning the element of the i-th position in the first array to the element of the i-1-th position in sequence from the 2nd position to the Nth position of the first array, and placing the acquired current position into the Nth position in the first array; calculating the absolute value of the difference between each element in the first array and the element in the first array; placing the temporary error corresponding to each element in the first array into the corresponding position in the second array; selecting the maximum value from the second array, and judging whether the maximum value is less than 1; and if yes, it is determined that the rearview mirror stalls. The application can reduce the cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a method and device for judging the locked-rotor of an automobile rearview mirror, a medium and equipment. BACKGROUND

[0002] In recent years, the automobile industry in China has developed rapidly, and product performance and quality have been continuously improved. As an important safety component of an automobile, the rearview mirror is called the "second eye" and is one of the indispensable equipment for an automobile, which can bring convenience to the driver and enable the driver to better understand the situation behind the vehicle when driving, thereby reducing the blind spot during driving and making driving safer. At present, most automobiles have the function of automatically adjusting the rearview mirror, and different error values are set by motor manufacturers for different situations. Occasional misjudgments may occur within the error range, resulting in a locked-rotor of the motor, i.e., the motor does not rotate although it is supplied with voltage. Frequent occurrence of the locked-rotor of the rearview mirror not only brings inconvenience to the user, but also seriously reduces the service life of the motor.

[0003] A commonly used method for detecting the locked-rotor of a motor is to add a sensor component, to detect the Hall information during the movement of the motor and to make a locked-rotor judgment, or to use a limit switch to prevent the locked-rotor. However, this method requires the setting of a Hall sensor and the installation of a magnetic ring on the motor, resulting in a high cost of locked-rotor detection. SUMMARY

[0004] To solve at least one of the above technical problems, the present application provides a method and device for judging the locked-rotor of an automobile rearview mirror, a medium and equipment.

[0005] According to a first aspect, the present application provides a method for judging the locked-rotor of an automobile rearview mirror, comprising:

[0006] determining the initial position, target position and adjustment direction of the rearview mirror on each axis;

[0007] constructing an initial first array and a second array for each axis; wherein the first array and the second array each include N elements, the first N-1 elements in the initial first array are each 0, the Nth element in the initial first array is the initial position of the rearview mirror on the axis, and the N elements in the initial second array are each 0, N being an integer greater than 2;

[0008] during the adjustment of the initial position of the rearview mirror on the axis to the target position according to the adjustment direction of the axis, acquiring the current position of the rearview mirror on the axis every preset time length, and for the first array, sequentially assigning the element at the ith position to the element at the i-1th position from the 2nd to the Nth position, and placing the acquired current position into the Nth position of the first array, to realize the updating of the first array; wherein i is an integer in the range of [2, N];

[0009] When the first array is updated, the absolute value of the difference between each bit element in the first array and the first bit element in the first array is calculated to obtain a temporary error corresponding to each bit element, and the temporary error corresponding to each bit element in the first array is placed in the corresponding position in the second array to update the second array;

[0010] When the second array is updated, the maximum value is selected from the second array, and it is determined whether the maximum value is less than 1. If yes, it is determined that the rearview mirror is stalled.

[0011] In an embodiment, the method further comprises:

[0012] obtaining an initial comprehensive position and a target comprehensive position of the rearview mirror;

[0013] determining an initial position of the rearview mirror on each axis according to the initial comprehensive position, and determining a target position of the rearview mirror on each axis according to the target comprehensive position;

[0014] determining an adjustment direction of the rearview mirror on each axis according to the initial position and the target position of the rearview mirror on the axis.

[0015] In an embodiment, the method further comprises:

[0016] When it is determined that the rearview mirror is stalled, the number of stalls is incremented by 1, and it is determined whether the number of stalls reaches a threshold number. If the number of stalls reaches the threshold number, the adjustment of the rearview mirror is stopped, and the method is exited.

[0017] In an embodiment, the method further comprises:

[0018] When the rearview mirror is adjusted to the target position of the axis, a waiting state is entered;

[0019] After entering the waiting state, it is checked whether the current position of the rearview mirror on the axis is the target position;

[0020] After the check passes, a first message that the adjustment of the rearview mirror on the axis is completed is reported to a controller, so that the controller determines whether the adjustment of all axes is completed after receiving the first message. If not, an adjustment instruction of a next axis is issued;

[0021] If the adjustment instruction of the next axis is received within a preset time period after entering the waiting state, the number of stalls is cleared, and the rearview mirror is adjusted from the initial position to the target position of the next axis according to the adjustment direction of the next axis.

[0022] In one embodiment, the method further comprises:

[0023] If the check on whether the current position of the rearview mirror on the axis is the target position fails, exiting the waiting state and continuing to adjust the rearview mirror on the axis;

[0024] If it is determined that the rearview mirror stalls during the continued adjustment, entering the waiting state, adding 1 to the stall number, and determining whether the stall number reaches the number threshold; if the stall number does not reach the number threshold and it is checked that the current position of the rearview mirror on the axis is the target position, reporting a first message that the adjustment of the rearview mirror on the axis is completed to the controller.

[0025] In one embodiment, the method further comprises:

[0026] If the stall number does not reach the number threshold, but it is checked that the current position of the rearview mirror on the axis is not the target position, exiting the waiting state and continuing to adjust the rearview mirror on the axis until it is checked that the current position of the rearview mirror on the axis is the target position under the condition that the stall number does not reach the number threshold, and reporting a first message that the adjustment of the rearview mirror on the axis is completed to the controller.

[0027] In one embodiment, the method further comprises:

[0028] If the stall number reaches the number threshold, and regardless of whether the current position of the rearview mirror on the axis is the target position, stopping the adjustment of the rearview mirror and exiting the method.

[0029] In one embodiment, the method further comprises:

[0030] If a fault of an adjustment motor of the rearview mirror is detected during the adjustment of the rearview mirror, stopping the adjustment of the rearview mirror.

[0031] In one embodiment, the method further comprises:

[0032] If the adjustment of the rearview mirror is stopped, feeding back state information of the rearview mirror to a front-end user.

[0033] According to a second aspect, an embodiment of the application provides an automobile rearview mirror stall determination device, comprising:

[0034] A first determination module, configured to determine an initial position, a target position and an adjustment direction of the rearview mirror on each axis;

[0035] An array construction module is configured to construct an initial first array and a second array for each axis, wherein the first array and the second array each include N-bit elements, the first N-1-bit elements in the initial first array are all 0, the Nth-bit element in the initial first array is an initial position of the rearview mirror on the axis, the N-bit elements in the initial second array are all 0, and N is an integer greater than 2;

[0036] A first updating module is configured to, according to an adjustment direction of each axis, obtain a current position of the rearview mirror on the axis every preset time length during adjustment of the rearview mirror on the axis from the initial position to a target position, sequentially assign an i-bit element in the first array to an i-1-bit element from the 2nd bit to the Nth bit of the first array, and put the obtained current position into the Nth bit of the first array, so as to update the first array, wherein i is an integer in the range of [2, N].

[0037] A second updating module is configured to, when the first array is updated, calculate absolute values of differences between each bit element in the first array and the 1st bit element in the first array, to obtain temporary errors corresponding to each bit element respectively, and put the temporary errors corresponding to each bit element in the first array into corresponding positions in the second array, so as to update the second array.

[0038] A stall judging module is configured to, when the second array is updated, select a maximum value from the second array, and judge whether the maximum value is less than 1, if yes, it is determined that the rearview mirror stalls.

[0039] According to a third aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, when the computer program is executed in a computer, the computer program causes the computer to execute the method provided in the first aspect.

[0040] According to a fourth aspect, a computing device is provided, and the computing device includes a memory and a processor, the memory stores executable code, and the processor executes the executable code to implement the method provided in the first aspect.

[0041] The embodiments of the present application have the following technical effects:

[0042] According to the adjusting direction of each axis, the current position of the rearview mirror on the axis is acquired every preset time length during the process of adjusting the initial position of the rearview mirror on the axis to the target position, the first array is updated, the second array is updated, whether the maximum value in the second array is less than 1 is judged, and then whether the stall occurs is judged according to the judgment result. The embodiment of the application will not be affected by environmental factors when judging the stall, does not need to increase additional hardware detection components, and can timely and accurately detect whether the stall occurs, and has lower cost. The stall judgment can be realized from the software level, and the adjusting motor is protected, so that the cost is greatly reduced, and the driving safety is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Figure 1 is a flow diagram of the automobile rearview mirror stall judgment method in an embodiment of the present application;

[0045] Figure 2 is a structure block diagram of the automobile rearview mirror stall judgment device in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme of the present application will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0047] In a first aspect, the embodiment of the present application provides an automobile rearview mirror stall judgment method, referring to Figure 1 The method comprises the following steps S110-S150:

[0048] S110, determining the initial position, target position and adjusting direction of the rearview mirror on each axis;

[0049] Wherein, the axis can be divided into x-axis and y-axis. At this time, the initial position, target position and adjusting direction of the rearview mirror on the x-axis and y-axis need to be determined.

[0050] In one embodiment, the determining of the initial position, the target position and the adjustment direction of the rearview mirror on each axis can include S111-S113:

[0051] S111, obtaining an initial comprehensive position and a target comprehensive position of the rearview mirror;

[0052] S112, determining an initial position of the rearview mirror on each axis according to the initial comprehensive position, and determining a target position of the rearview mirror on each axis according to the target comprehensive position;

[0053] S113, determining an adjustment direction of the rearview mirror on each axis according to the initial position and the target position of the rearview mirror on the axis.

[0054] For example, the adjustment process of the rearview mirror is divided into adjustment in the x-axis direction and adjustment in the y-axis direction, so the initial positions of the rearview mirror on the x-axis and the y-axis are determined according to the initial comprehensive position, the target positions of the rearview mirror on the x-axis and the y-axis are determined according to the target comprehensive position, and then the adjustment direction in the x-axis direction and the adjustment direction in the y-axis direction are determined. It can be seen that the initial position, the target position and the adjustment direction of the rearview mirror on the x-axis and the y-axis can be obtained through S111-S113.

[0055] The adjustment direction of the x-axis can be left or right. The adjustment direction of the y-axis can be up or down.

[0056] S120, constructing an initial first array and a second array for each axis; wherein the first array and the second array each include N-bit elements, the first N-1-bit elements in the initial first array are all 0, the Nth-bit element in the initial first array is the initial position of the rearview mirror on the axis, and the N-bit elements in the initial second array are all 0, N is an integer greater than 2;

[0057] For example, N is 10. At this time, the first array and the second array corresponding to the x-axis each include 10-bit elements. The 10-bit elements in the initial second array are all 0. The first 9-bit elements in the initial first array are all 0, and the 10th-bit element is the initial position of the rearview mirror on the x-axis.

[0058] S130, according to the adjustment direction of each axis, in the process of adjusting the initial position of the rearview mirror on the axis to the target position, the current position of the rearview mirror on the axis is obtained every preset time length, the element of the ith-bit is assigned to the element of the i-1th-bit in the first array from the 2nd-bit to the Nth-bit in turn, and the obtained current position is put into the Nth-bit of the first array to realize the update of the first array; wherein i is an integer in the range of [2, N];

[0059] Wherein, the update of the first array is: the 2nd bit is assigned to the 1st bit, the 3rd bit is assigned to the 2nd bit, the 4th bit is assigned to the 3rd bit, and so on, the 10th bit is assigned to the 9th bit. Then the obtained current position is assigned to the 10th bit.

[0060] S140, when the update of the first array is completed, the absolute value of the difference between each bit element in the first array and the 1st bit element in the first array is calculated to obtain a temporary error corresponding to each bit element respectively; and the temporary error corresponding to each bit element in the first array is put into the corresponding position in the second array to realize the update of the second array.

[0061] For example, the 1st bit element in the first array is subtracted from the 1st bit element in the first array and the absolute value is calculated to obtain the 1st bit element in the second array. The 2nd bit element in the first array is subtracted from the 1st bit element in the first array and the absolute value is calculated to obtain the 2nd bit element in the second array. The 3rd bit element in the first array is subtracted from the 1st bit element in the first array and the absolute value is calculated to obtain the 3rd bit element in the second array. And so on, the 10th bit element in the first array is subtracted from the 1st bit element in the first array and the absolute value is calculated to obtain the 10th bit element in the second array.

[0062] S150, when the update of the second array is completed, the maximum value is selected from the second array, and it is judged whether the maximum value is less than 1, if yes, it is determined that the rearview mirror has occurred to be blocked.

[0063] That is, the maximum value is selected from the second array, and it is judged whether the maximum value is less than 1, if yes, it is indicated that the rearview mirror has occurred to be blocked. If greater than or equal to 1, it is indicated that no blocking occurs.

[0064] It can be understood that the maximum value in the second array is less than 1, which indicates that the maximum value in the second array is 0, at this time, each element in the second data is 0. It is indicated that the displacement of the rearview mirror has not changed in a period of time, and it is considered that the blocking occurs.

[0065] It can be seen that in the process of adjusting the initial position of the rearview mirror on the axis to the target position, the following steps are performed every preset time interval: obtaining the current position of the rearview mirror on the axis; updating the first array; updating the second array; selecting the maximum value from the second array, and judging whether the maximum value is less than 1, and determining whether the rearview mirror has occurred to be blocked according to the judgment result.

[0066] In one embodiment, the method provided by the embodiment of the application can further include:

[0067] When it is determined that the rearview mirror is stalled, the stall number is added by 1, and it is determined whether the stall number reaches a number threshold; if the stall number reaches the number threshold, the adjustment of the rearview mirror is stopped, and the method is exited.

[0068] The number threshold can be set according to requirements, for example, set to 3.

[0069] For example, if it is determined that the rearview mirror is stalled, the stall number is added by 1, and if the updated stall number is 3, it can be seen that the stall number is equal to the number threshold, so the adjustment of the rearview mirror is stopped, and the method is ended.

[0070] It can be seen that when the stall number reaches a certain number, it means that the stall of the rearview mirror is relatively serious and cannot be automatically restored to normal, so maintenance needs to be performed, and at this time the adjustment of the rearview mirror is terminated. At this time, the state information of the rearview mirror can be fed back to the front-end user, so that the front-end user knows the stall condition of the rearview mirror.

[0071] Of course, if the stall number does not reach the number threshold, and at this time the current position has not reached the target position, the adjustment is continued, and the operation of entering the next cycle is continued: the current position of the rearview mirror on the axis is obtained; the first array is updated; the second array is updated; the maximum value is selected from the second array, it is determined whether the maximum value is less than 1, and the rearview mirror is determined whether to stall according to the determination result.

[0072] In an embodiment, when the current position of the rearview mirror on an axis reaches the target position, certain verification, reporting and the like need to be performed. Specifically, the method provided by the embodiment of the present application can further include the following steps S160-S200:

[0073] S160, when the rearview mirror is adjusted to the target position of the axis, the waiting state is entered;

[0074] S170, after entering the waiting state, it is verified whether the current position of the rearview mirror on the axis is the target position;

[0075] S180, after the verification is passed, a first message that the adjustment of the rearview mirror on the axis is completed is reported to the controller, so that the controller determines whether the adjustment work of all axes has been completed after receiving the first message; if not, the adjustment instruction of the next axis is issued;

[0076] S190, if the adjustment instruction of the next axis is received within a preset time length after entering the waiting state, the stall number is cleared, and the work of adjusting the rearview mirror from the initial position of the next axis to the target position in the adjustment direction of the next axis is entered.

[0077] That is, when the position of the rearview mirror reaches the target position, the rearview mirror enters a waiting state, and in the waiting state, it is verified whether the current position of the rearview mirror on the axis has really reached the target position. If the current position of the rearview mirror on the axis has really reached the target position, the verification is passed. At this time, the number of times of stalling is also less than the threshold, and therefore a first message is reported to the controller, so as to inform the controller that the adjustment of the rearview mirror on the axis has been completed.

[0078] When the controller receives the first message, it is determined whether the adjustment of other axes has been completed. If the adjustment of all axes has been completed, a completion instruction is issued, so that the adjustment motor of the rearview mirror knows that the adjustment of the rearview mirror has been completed. If the adjustment of an axis has not been completed, for example, the first message indicates that the adjustment of the x-axis has been completed, and the controller determines that only the adjustment of the x-axis has been completed and the adjustment of the y-axis has not been completed. Therefore, an adjustment instruction of the y-axis is issued. When the adjustment motor of the rearview mirror receives the adjustment instruction of the y-axis, the adjustment of the y-axis is performed, and the process of the adjustment of the y-axis is the same as that of the adjustment of the x-axis.

[0079] In an embodiment, the method provided by the embodiment of the present application further includes:

[0080] S200, if the verification of whether the current position of the rearview mirror on the axis is the target position is not passed, the waiting state is exited, and the adjustment of the rearview mirror on the axis is continued.

[0081] S210, if it is determined that the rearview mirror stalls during the continued adjustment, the waiting state is entered, the number of times of stalling is increased by 1, and it is determined whether the number of times of stalling reaches the threshold. If the number of times of stalling does not reach the threshold, and it is verified that the current position of the rearview mirror on the axis is the target position, a first message that the adjustment of the rearview mirror on the axis has been completed is reported to the controller.

[0082] That is, in the waiting state, it is checked whether the current position of the rearview mirror on the axis is really the target position, and it is verified that the current position of the rearview mirror on the axis is actually not the target position, so the waiting state is exited and the adjusting state is entered. In the adjusting state, the position of the rearview mirror on the axis is continuously driven in the adjusting direction. Every preset time length, the current position of the rearview mirror on the axis is obtained; the first array is updated; the second array is updated; it is judged whether the maximum value in the second array is less than 1, and then it is judged whether the rearview mirror has stalled according to the judgment result. If there is no stall, it is checked whether the current position is the target position. If it is verified that the current position is the target position, S180 and S190 are executed. If it is judged that there is a stall, the waiting state is entered, and the stall number is increased by 1. It is judged whether the stall number reaches the number threshold. If the number threshold is not reached, and it is verified that the current position is the target position, S180 and S190 are executed.

[0083] Further, the method provided by the embodiment of the present application can further include:

[0084] S220, if the stall number does not reach the number threshold, but it is verified that the current position of the rearview mirror on the axis is not the target position, the waiting state is exited, and the rearview mirror on the axis is continuously adjusted until it is verified that the current position of the rearview mirror on the axis is the target position under the condition that the stall number does not reach the number threshold, a first message that the adjustment of the rearview mirror on the axis is completed is reported to the controller.

[0085] That is, if the stall number does not reach the number threshold, but it is verified that the current position is not the target position, the waiting state is exited, the adjusting state is entered, and the motor continues to drive the rearview mirror to continuously adjust the rearview mirror. Repeatedly, until it is verified that the current position of the rearview mirror on the axis is the target position under the condition that the stall number does not reach the number threshold, S180 and S190 are executed.

[0086] Further, the method provided by the embodiment of the present application can further include:

[0087] S230, if the stall number reaches the number threshold, and regardless of whether the current position of the rearview mirror on the axis is the target position, the adjustment of the rearview mirror is stopped, and the method is exited.

[0088] That is, when the number of stalling times reaches the number threshold, it is not necessary to check whether the current position of the rearview mirror on the axis is the target position, and the adjustment of the rearview mirror is stopped, and the whole adjustment process is ended, because the number of stalling times is too high, which is not an occasional problem, but a problem that needs to be solved by maintenance.

[0089] In the waiting state, the adjusting motor does not drive the rearview mirror, i.e., does not perform position adjustment. The rearview mirror is driven only in the adjusting state. However, the step of obtaining the current position of the rearview mirror on the axis, updating the first array, and updating the second array is performed every preset time length in both the waiting state and the adjusting state.

[0090] In one embodiment, the method provided by the embodiment of the application further includes:

[0091] During the adjustment of the rearview mirror, if it is detected that the adjusting motor of the rearview mirror fails, the adjustment of the rearview mirror is stopped.

[0092] That is, in addition to the operations of judging the number of stalling times and checking the target position during the adjustment, it is also detected whether the adjusting motor fails. If it is detected that the adjusting motor fails, the adjustment of the rearview mirror is stopped.

[0093] In one embodiment, the method provided by the embodiment of the application further includes:

[0094] If the adjustment of the rearview mirror is stopped, the state information of the rearview mirror is fed back to the front-end user.

[0095] That is, in any case where the adjustment of the rearview mirror is stopped, the state information of the rearview mirror can be fed back to the front-end user, so that the front-end user can know the specific situation.

[0096] For example, the adjustment direction of the x-axis is right adjustment. The initial position of the rearview mirror on the x-axis is 50%, and the target position is 57%. The initial first array and the second array are established, and see Table 1.

[0097] Table 1: Initial array table

[0098] 1 2 3 4 5 6 7 8 9 10 First array 0 0 0 0 0 0 0 0 0 50 Second array 0 0 0 0 0 0 0 0 0 0

[0099] The preset time length is set to 100 ms.

[0100] That is, during the adjustment of the rearview mirror from the initial position to the target position in the x-axis direction, the current position of the rearview mirror in the x-axis direction is obtained every 100 ms, and after the current position of the rearview mirror in the x-axis direction is obtained in the first 100 ms, the second element in the first array is assigned to the first element, the third element is assigned to the second element, and so on until the tenth element is assigned to the ninth element. Then the current position obtained in the first 100 ms is placed in the tenth position, and the first array is updated for the first time. As can be seen, the first to ninth elements are pushed forward by one position, and the newly obtained current position is placed in the tenth position, and the first array is obtained as shown in Table 2. Then the absolute value of the difference between each element in the first array and the first element in the first array is calculated, and the absolute value of the difference is taken as a temporary error, and 10 temporary errors are obtained. The 10 temporary errors are placed in the second array, and the second array is obtained as shown in Table 2, and the second array is updated for the first time.

[0101] Array table after the first update

[0102] 1 2 3 4 5 6 7 8 9 10 First array 0 0 0 0 0 0 0 0 0 51 Second array 0 0 0 0 0 0 0 0 0 51

[0103] Then, the maximum value 51 is selected from the second array, and the maximum value 51 is greater than 1, so it is determined that the rearview mirror does not stall at this time. Then, the current position of the rearview mirror in the x-axis direction is obtained in the second 100 ms, the first array is updated, and the second array is updated according to the above process. Whether the maximum value in the second array is less than 1 determines whether the rearview mirror stalls. If it does not stall, or the stall times are less than the threshold, then the operation of the next judgment period is performed. Table 3 below is the two arrays updated in the second 100 ms, and Table 4 below is the two arrays updated in the seventh 100 ms.

[0104] Array table after the second update

[0105] 1 2 3 4 5 6 7 8 9 10 First array 0 0 0 0 0 0 0 0 51 52 Second array 0 0 0 0 0 0 0 0 51 52

[0106] Array table after the seventh update

[0107] 1 2 3 4 5 6 7 8 9 10 First array 0 0 0 51 52 53 54 55 56 57 Second array 0 0 0 51 52 53 54 55 56 57

[0108] As can be seen, when the rearview mirror is adjusted to 57% in the x-axis direction, it has never stalled, but after verification, it is found that the current position of the rearview mirror in the x-axis direction is actually different from the target position, so further adjustment is needed. After 10 periods of adjustment, the array table shown in Table 5 is obtained. After 15 periods, the array table shown in Table 6 is obtained. After 16 periods of adjustment, the array table shown in Table 7 is obtained.

[0109] Table 5 Array Table

[0110] 1 2 3 4 5 6 7 8 9 10 First array 51 52 53 54 55 56 57 57 57 57 Second array 0 1 2 3 4 5 6 6 6 6

[0111] Table 6 Array Table

[0112] 1 2 3 4 5 6 7 8 9 10 First array 56 57 57 57 57 57 57 57 57 57 Second array 0 1 1 1 1 1 1 1 1 1

[0113] Table 7 Array Table

[0114]

[0115]

[0116] It can be seen that after the adjustment of the 16th cycle, the maximum value in the second array is 0, which is less than 1 at this time, so it is considered that the rearview mirror is stalled, and the adjustment state is switched to the waiting state. In the waiting state, the stall number is added by 1, and it is verified that the current position has not been adjusted to the target position. Since the stall number is less than the number threshold, the waiting state is switched to the adjustment state, and the adjustment motor continues to drive the rearview mirror. When it is found through inspection in the next cycle that the current position of the rearview mirror in the x-axis is the target position, a first message is sent to the controller. After receiving the first message, the controller sends an adjustment instruction of the y-axis to the adjustment motor, so that the adjustment motor enters the adjustment of the y-axis.

[0117] It can be seen that the embodiment of the present application can theoretically reach the target position of the rearview mirror, but in fact there is a difference between the target position, so it can be automatically adjusted to the target position, and whether the stall occurs during the automatic adjustment is detected, and then how to handle it is determined.

[0118] It can be understood that in the embodiment of the present application, the stall can be detected within N* preset time after the stall occurs, and the preset time is usually in the order of milliseconds, for example, 100 ms, and when N is 10, 10*100 ms = 1 s, so the stall can be detected within 1 s after the stall occurs, and the stall problem can be found in time. That is, if the position change of the rearview mirror is 0 within N* preset time, it is considered that the stall occurs, and this method is not dependent on hardware and has higher accuracy. If the stall number reaches a certain number, the driving of the rearview mirror is stopped, the protection of the adjustment motor is realized, the loss of the adjustment motor caused by long-time stall of the rearview mirror during the automatic adjustment is reduced, and the hardware stall protection method is more stable and reliable.

[0119] It can be seen that the embodiment of the present application can not be affected by environmental factors when judging the stall, and can timely and accurately detect whether the stall occurs without increasing additional hardware detection components, and is more accurate and has lower cost. The present application can realize the stall judgment from the software level, and then protect the regulating motor, so that the cost can be greatly reduced and the driving safety can be ensured.

[0120] In a second aspect, the embodiment of the present application provides a device for judging the stall of an automobile rearview mirror, which is shown in Figure 2 The device comprises:

[0121] A first determining module is configured to determine the initial position, target position and adjusting direction of the rearview mirror on each axis.

[0122] An array constructing module is configured to construct an initial first array and a second array for each axis, wherein the first array and the second array each comprise N elements, the first N-1 elements in the initial first array are all 0, the Nth element in the initial first array is the initial position of the rearview mirror on the axis, and the N elements in the initial second array are all 0, and N is an integer greater than 2.

[0123] A first updating module is configured to acquire the current position of the rearview mirror on each axis every preset time interval during the adjustment of the initial position of the rearview mirror on the axis to the target position according to the adjusting direction of each axis, and sequentially assign the i-th element in the first array to the i-1-th element from the 2nd to the Nth element in the first array, and put the acquired current position into the Nth element in the first array, so as to update the first array, wherein i is an integer in the range of [2, N].

[0124] A second updating module is configured to calculate the absolute value of the difference between each element in the first array and the 1st element in the first array when the updating of the first array is completed, to obtain the temporary error corresponding to each element, and put the temporary error corresponding to each element in the first array into the corresponding position in the second array, so as to update the second array.

[0125] A stall judging module is configured to select the maximum value from the second array when the updating of the second array is completed, and judge whether the maximum value is less than 1, and if yes, it is determined that the rearview mirror has stalled.

[0126] In one embodiment, the first determining module is specifically configured to: acquire an initial comprehensive position and a target comprehensive position of the rearview mirror; determine an initial position of the rearview mirror on each axis according to the initial comprehensive position; determine a target position of the rearview mirror on each axis according to the target comprehensive position; and determine an adjustment direction of the rearview mirror on the axis according to the initial position and the target position of the rearview mirror on each axis.

[0127] In one embodiment, the device provided by the embodiment of the present application further includes:

[0128] The first processing module is configured to, when it is determined that the rearview mirror is stalled, increase the stall number by 1, and determine whether the stall number reaches a number threshold; if the stall number reaches the number threshold, stop adjusting the rearview mirror, and exit the flow of the device.

[0129] In one embodiment, the device provided by the embodiment of the present application further includes:

[0130] The second processing module is configured to, when the rearview mirror is adjusted to the target position on the axis, enter a waiting state; after entering the waiting state, check whether the current position of the rearview mirror on the axis is the target position; after the check passes, report a first message that the adjustment of the rearview mirror on the axis is completed to a controller, so that the controller determines whether the adjustment of all axes is completed after receiving the first message; if not, issue an adjustment instruction of a next axis; if the adjustment instruction of the next axis is received within a preset time length after entering the waiting state, clear the stall number, and enter a work of adjusting the rearview mirror from the initial position to the target position of the next axis according to the adjustment direction of the next axis.

[0131] In one embodiment, the device provided by the embodiment of the present application further includes:

[0132] The third processing module is configured to, if the check of whether the current position of the rearview mirror on the axis is the target position fails, exit the waiting state, and continue to adjust the rearview mirror on the axis; if it is determined that the rearview mirror is stalled during the continuous adjustment, enter the waiting state, increase the stall number by 1, and determine whether the stall number reaches the number threshold; if the stall number does not reach the number threshold, and it is checked that the current position of the rearview mirror on the axis is the target position, report a first message that the adjustment of the rearview mirror on the axis is completed to a controller.

[0133] In one embodiment, the device provided by the embodiment of the present application further includes:

[0134] The fourth processing module is configured to exit the waiting state and continue to adjust the rearview mirror on the axis until it is verified that the current position of the rearview mirror on the axis is the target position under the condition that the number of stall times does not reach the number threshold, and then report a first message indicating that the adjustment of the rearview mirror on the axis is completed to the controller.

[0135] In an embodiment, the apparatus provided by the embodiments of the present application can further include:

[0136] The fifth processing module is configured to stop the adjustment of the rearview mirror and exit the flow of the apparatus if the number of stall times reaches the number threshold regardless of whether the current position of the rearview mirror on the axis is the target position.

[0137] In an embodiment, the apparatus provided by the embodiments of the present application can further include:

[0138] The sixth processing module is configured to stop the adjustment of the rearview mirror if a fault of an adjusting motor of the rearview mirror is detected during the adjustment of the rearview mirror.

[0139] In an embodiment, the apparatus provided by the embodiments of the present application can further include:

[0140] The sixth processing module is configured to feed back state information of the rearview mirror to a front-end user if the adjustment of the rearview mirror is stopped.

[0141] It can be understood that the explanations, specific embodiments, beneficial effects, examples and the like of the apparatus provided by the embodiments of the present application can refer to the corresponding parts of the method provided by the first aspect, and thus will not be described herein.

[0142] In a third aspect, a computer readable medium is provided, and the computer readable medium stores computer instructions. When the computer instructions are executed by a processor, the processor executes the method provided by the first aspect.

[0143] Specifically, a system or apparatus provided with a storage medium can be provided, and the storage medium stores software program codes for implementing the functions of any of the above embodiments, and the computer (or CPU or MPU) of the system or apparatus reads and executes the program codes stored in the storage medium.

[0144] In this case, the program codes read from the storage medium can implement the functions of any of the above embodiments, and thus the program codes and the storage medium storing the program codes constitute a part of the present application.

[0145] The storage medium for providing the program code includes floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, nonvolatile memory cards and ROM. Alternatively, the program code can be downloaded from a server computer via a communication network.

[0146] In addition, it should be clear that not only the program code read by the computer can be executed, but also the operating system and the like operating on the computer can be caused to perform part or all of the actual operations based on the instructions of the program code, thereby realizing the functions of any one of the above embodiments.

[0147] In addition, it can be understood that the program code read by the storage medium is written into the memory provided in the expansion board inserted into the computer or the memory provided in the expansion module connected to the computer, and then part or all of the actual operations are performed based on the instructions of the program code by the CPU and the like installed on the expansion board or the expansion module, thereby realizing the functions of any one of the above embodiments.

[0148] It can be understood that the explanation, specific embodiments, beneficial effects, examples and the like of the content in the computer readable medium provided by the embodiments of the present application can refer to the corresponding parts in the method provided by the first aspect, and will not be repeated here.

[0149] In a fourth aspect, an embodiment of the present specification provides a computing device, comprising a memory and a processor, wherein the memory stores executable code, and the processor executes the executable code to realize the method in any one of the embodiments of the specification.

[0150] It can be understood that the explanation, specific embodiments, beneficial effects, examples and the like of the content in the computing device provided by the embodiments of the present application can refer to the corresponding parts in the method provided by the first aspect, and will not be repeated here.

[0151] It should be noted that the terms used in the present application are only intended to describe specific embodiments and are not intended to limit the scope of the present application. As shown in the specification and claims of the present application, unless the context clearly indicates otherwise, "one", "a", "an", and / or "the" do not specifically refer to the singular, but can also include the plural. The terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method or device including the element.

[0152] It should also be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. Unless otherwise specified and limited, the terms "mounting", "connection", "connection" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solution to deviate from the technical solutions of the embodiments of the present application.

Claims

1. A method for determining whether a car rearview mirror is stalled, characterized in that, include: Determine the initial position, target position, and adjustment direction of the rearview mirror on each axis; For each axis, construct an initial first array and a second array; wherein, the first array and the second array each contain N elements, the first N-1 elements of the initial first array are all 0, the Nth element of the initial first array is the initial position of the rearview mirror on the axis, and the N elements of the initial second array are all 0, where N is an integer greater than 2; According to the adjustment direction of each axis, during the process of adjusting the rearview mirror from the initial position to the target position on the axis, the current position of the rearview mirror on the axis is obtained at preset time intervals. For the first array, from the 2nd position to the Nth position, the element of the i-th position is assigned to the element of the (i-1)-th position, and the obtained current position is placed in the N-th position of the first array to update the first array; where i is an integer in the range [2, N]. When the first array is updated, the absolute value of the difference between each element in the first array and the first element in the first array is calculated to obtain the temporary error corresponding to each element; and the temporary error corresponding to each element in the first array is placed in the corresponding position in the second array to realize the update of the second array. When the second array is updated, the maximum value is selected from the second array, and it is determined whether the maximum value is less than 1. If so, it is determined that the rearview mirror is stuck.

2. The method according to claim 1, characterized in that, Determining the initial position, target position, and adjustment direction of the rearview mirror on each axis includes: Obtain the initial composite position and target composite position of the rearview mirror; Based on the initial integrated position, determine the initial position of the rearview mirror on each axis; based on the target integrated position, determine the target position of the rearview mirror on each axis. The adjustment direction of the rearview mirror on each axis is determined based on the initial and target positions of the rearview mirror on each axis.

3. The method according to claim 1, characterized in that, Also includes: When it is determined that the rearview mirror is stuck, the number of stuck turns is incremented by 1, and it is determined whether the number of stuck turns has reached the threshold. If the number of stalls reaches the threshold, the adjustment of the rearview mirror is stopped, and the method is exited.

4. The method according to claim 1, characterized in that, Also includes: Once the rearview mirror is adjusted to the target position on the axis, it enters a waiting state. After entering the waiting state, the current position of the rearview mirror on the axis is verified to be the target position; After the verification is passed, a first message is reported to the controller that the adjustment of the rearview mirror on that axis has been completed, so that the controller can determine whether the adjustment of all axes has been completed after receiving the first message; If not, then issue the adjustment command for the next axis; If an adjustment command for the next axis is received within a preset time period of entering the waiting state, the stall count is reset to zero, and the operation of adjusting the rearview mirror from the initial position to the target position according to the adjustment direction of the next axis is initiated.

5. The method according to claim 4, characterized in that, Also includes: If the verification of whether the current position of the rearview mirror on the axis is the target position fails, the waiting state is exited and the rearview mirror is adjusted on the axis. If, during the continued adjustment process, it is determined that the rearview mirror has stalled, then the system enters the waiting state, increments the stall count by 1, and determines whether the stall count has reached the threshold. If the threshold has not been reached, and after verification, the current position of the rearview mirror on the axis is the target position, then the system reports a first message to the controller that the adjustment of the rearview mirror on the axis has been completed.

6. The method according to claim 5, characterized in that, Also includes: If the number of stalls has not reached the threshold, but the current position of the rearview mirror on the axis is still not the target position after verification, then the waiting state is exited and the rearview mirror on the axis is adjusted until the current position of the rearview mirror on the axis is the target position after verification when the number of stalls has not reached the threshold. Then, a first message that the adjustment of the rearview mirror on the axis has been completed is reported to the controller. And / or, if the number of stalls reaches the threshold, regardless of whether the current position of the rearview mirror on the axis is the target position, the adjustment of the rearview mirror is stopped and the method is exited.

7. The method according to any one of claims 1 to 6, characterized in that, Also includes: If a malfunction is detected in the adjustment motor of the rearview mirror during the adjustment process, the adjustment of the rearview mirror shall be stopped. And / or, if the adjustment of the rearview mirror is stopped, the status information of the rearview mirror is fed back to the front user.

8. A device for detecting stall in a car rearview mirror, characterized in that, include: The first determining module is used to determine the initial position, target position, and adjustment direction of the rearview mirror on each axis; An array construction module is used to construct an initial first array and a second array for each axis; wherein, the first array and the second array each include N elements, the first N-1 elements of the initial first array are all 0, the Nth element of the initial first array is the initial position of the rearview mirror on the axis, and the N elements of the initial second array are all 0, where N is an integer greater than 2; The first update module is used to, during the process of adjusting the rearview mirror from its initial position to its target position on each axis according to the adjustment direction of each axis, obtain the current position of the rearview mirror on the axis at preset intervals, assign the element of the i-th position to the element of the (i-1)-th position sequentially from the 2nd to the Nth position of the first array, and put the obtained current position into the Nth position of the first array to update the first array; where i is an integer in the range [2, N]; The second update module is used to calculate the absolute value of the difference between each element in the first array and the first element in the first array when the first array is updated, to obtain the temporary error corresponding to each element; and to put the temporary error corresponding to each element in the first array into the corresponding position in the second array to realize the update of the second array. The stall detection module is used to select the maximum value from the second array when the second array is updated, and determine whether the maximum value is less than 1. If so, it is determined that the rearview mirror has stalled.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1 to 7.

10. A computing device, characterized in that, The method includes a memory and a processor, wherein the memory stores executable code, and the processor executes the executable code to implement the method described in any one of claims 1 to 7.

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