Method for adjusting a mirror of a vehicle and vehicle

Abstract

The application discloses a method for adjusting a rearview mirror of a vehicle and the vehicle, and belongs to the technical field of vehicles. Through the technical scheme provided by the embodiment of the application, in the process of adjusting the rearview mirror of the vehicle to a target position, in response to the rearview mirror being stuck, the rearview mirror is controlled to move in a first direction by a first distance, so that the rearview mirror is away from the stuck position. In the case that the rearview mirror is away from the stuck position, the rearview mirror is controlled to move in a third direction by a second distance, so that the rearview mirror is further away from and bypasses the stuck position. In the case that the rearview mirror moves in the third direction by the second distance, the rearview mirror is further controlled to move to the target position, so that the automatic unsticking of the rearview mirror is realized, and the driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a method for adjusting the mirror surface of a vehicle's rearview mirror and a vehicle. Background Technology

[0002] As society develops, more and more people are buying vehicles as a means of transportation. The vehicle's rearview mirrors provide drivers with external information, which is crucial for driving safety.

[0003] In related technologies, due to differences in the height and sitting posture of different drivers, vehicles are equipped with rearview mirror adjustment functions to improve driving safety. Drivers can adjust the rearview mirror to different positions as needed to obtain external information.

[0004] However, during the adjustment of the rearview mirror, the mirror may become stuck, preventing it from being adjusted to the driver's desired position and affecting driving safety. Summary of the Invention

[0005] This application provides a method for adjusting the rearview mirror surface of a vehicle and a vehicle, which can eliminate the jamming of the rearview mirror surface and improve driving safety. The technical solution is as follows:

[0006] On one hand, a method for adjusting the mirror surface of a vehicle's rearview mirror is provided, the method comprising:

[0007] During the process of adjusting the rearview mirror of the vehicle to the target position, in response to the rearview mirror becoming stuck, the rearview mirror is controlled to move a first distance in a first direction, the first direction being the opposite of a second direction, and the second direction being the direction of movement before the rearview mirror became stuck.

[0008] When the rearview mirror moves a first distance in the first direction, the rearview mirror is controlled to move a second distance in a third direction, which is perpendicular to the first direction.

[0009] When the rearview mirror moves a second distance in a third direction, the rearview mirror is controlled to move towards the target position.

[0010] In one possible implementation, the step of controlling the rearview mirror to move a first distance in a first direction in response to the rearview mirror surface becoming stuck includes:

[0011] In response to the jamming of the rearview mirror, the first rearview mirror adjustment motor is controlled to stop operating. The first rearview mirror motor is used to control the rearview mirror to move in the first direction or the second direction.

[0012] After a first preset time period, the first rearview mirror adjustment motor is controlled to rotate in the direction of rotation of the first target motor, so as to control the mirror surface of the rearview mirror to move a first distance in the first direction. The rotation direction of the first target motor is opposite to the rotation direction of the motor corresponding to the second direction.

[0013] In one possible implementation, when the rearview mirror mirror moves a first distance in the first direction, controlling the rearview mirror mirror to move a second distance in a third direction includes:

[0014] When the rearview mirror moves the first distance in the first direction, the third direction is determined based on the target control command, wherein the target control command is an instruction to adjust the rearview mirror to the target position;

[0015] Control the rearview mirror to move a second distance in a third direction.

[0016] In one possible implementation, determining the third direction based on the target control command includes:

[0017] When the target control command instructs the rearview mirror to move in a fourth direction perpendicular to the second direction, the fourth direction is determined as the third direction;

[0018] If the target control command does not instruct the rearview mirror to move in a fourth direction perpendicular to the second direction, the preset direction perpendicular to the second direction is determined as the third direction.

[0019] In one possible implementation, the target position includes a first position in the second direction and a second position in a fourth direction, the fourth direction being perpendicular to the second direction. The step of controlling the rearview mirror to move towards the target position when the rearview mirror moves a second distance in the third direction includes:

[0020] When the rearview mirror surface moves a second distance in a third direction, the rearview mirror surface is controlled to move a third distance in the second direction, so that the rearview mirror surface moves to the first position in the second direction.

[0021] When the rearview mirror surface moves a third distance in the second direction, the rearview mirror surface is controlled to move a fourth distance in the fourth direction, so that the rearview mirror surface moves to the second position in the fourth direction.

[0022] In one possible implementation, during the process of adjusting the rearview mirror surface of the vehicle towards the target position, in response to the rearview mirror surface becoming stuck, controlling the rearview mirror surface to move a first distance in a first direction includes:

[0023] During the process of adjusting the rearview mirror of the vehicle to the target position, it is determined whether the rearview mirror is stuck based on the positional change of the rearview mirror.

[0024] In response to the rearview mirror surface becoming stuck, the rearview mirror surface is controlled to move a first distance in a first direction.

[0025] In one possible implementation, determining whether the rearview mirror is stuck during the process of adjusting the vehicle's rearview mirror to the target position, based on the positional change of the rearview mirror, includes:

[0026] During the process of adjusting the rearview mirror of the vehicle to the target position, based on the first real-time position and the first historical position of the rearview mirror, the first position change of the rearview mirror is determined. The first historical position is the position of the rearview mirror before the first preset time period, and the position change is used to indicate the position change.

[0027] When the first position change meets the first preset condition, the second position change of the rearview mirror is determined based on the second real-time position and the first historical position of the rearview mirror. The second real-time position is the position of the rearview mirror after a second preset time when the rearview mirror reaches the first real-time position.

[0028] If the change in the second position meets the second preset condition, it is determined that the rearview mirror surface is stuck.

[0029] If the change in the first position does not meet the first preset condition, or the change in the second position does not meet the second preset condition, it is determined that the rearview mirror surface is not stuck.

[0030] In one possible implementation, the method further includes:

[0031] If the number of times the rearview mirror becomes stuck reaches a preset number, a fault alarm is triggered. The fault alarm is used to indicate that the rearview mirror is stuck and cannot automatically disengage.

[0032] In one possible implementation, the target position includes a first position in the second direction and a second position in the fourth direction, and the method further includes:

[0033] During the process of adjusting the rearview mirror of the vehicle to the target position, in response to the rearview mirror getting stuck, the rearview mirror is controlled to move towards the second position in the fourth direction, the fourth direction being perpendicular to the second direction;

[0034] When the rearview mirror surface moves to the second position, control the rearview mirror surface to move towards the first position in the second direction.

[0035] On one hand, a rearview mirror adjustment device for a vehicle is provided, the device comprising:

[0036] The first control module is used to control the rearview mirror to move a first distance in a first direction in response to the rearview mirror becoming stuck during the process of adjusting the rearview mirror to the target position. The first direction is the opposite of the second direction, and the second direction is the direction of movement before the rearview mirror becomes stuck.

[0037] The second control module is used to control the rearview mirror to move a second distance in a third direction when the rearview mirror moves a first distance in the first direction, the third direction being perpendicular to the first direction;

[0038] The third control module is used to control the rearview mirror to move toward the target position when the rearview mirror moves a second distance toward a third direction.

[0039] In one possible implementation, the first control module is configured to, in response to the jamming of the rearview mirror surface, control the first rearview mirror adjustment motor to stop operating, the first rearview mirror motor being configured to control the rearview mirror surface to move in the first direction or the second direction; after a first preset time period, control the first rearview mirror adjustment motor to rotate in the rotation direction of the first target motor, so as to control the rearview mirror surface to move a first distance in the first direction, the rotation direction of the first target motor being opposite to the rotation direction of the motor corresponding to the second direction.

[0040] In one possible implementation, the second control module is configured to, when the rearview mirror mirror moves a first distance in the first direction, determine a third direction based on a target control command, wherein the target control command is an instruction to adjust the rearview mirror mirror to the target position; and control the rearview mirror mirror to move a second distance in the third direction.

[0041] In one possible implementation, the second control module is configured to, when the target control command instructs the rearview mirror to be moved in a fourth direction perpendicular to the second direction, determine the fourth direction as the third direction; and when the target control command does not instruct the rearview mirror to be moved in a fourth direction perpendicular to the second direction, determine a preset direction perpendicular to the second direction as the third direction.

[0042] In one possible implementation, the target position includes a first position in the second direction and a second position in the fourth direction, the fourth direction being perpendicular to the second direction. The third control module is configured to, when the rearview mirror moves a second distance in the third direction, control the rearview mirror to move a third distance in the second direction, so that the rearview mirror moves to the first position in the second direction; and when the rearview mirror moves a third distance in the second direction, control the rearview mirror to move a fourth distance in the fourth direction, so that the rearview mirror moves to the second position in the fourth direction.

[0043] In one possible implementation, the first control module is configured to determine whether the rearview mirror is stuck based on the positional change of the rearview mirror during the process of adjusting the rearview mirror to the target position; and in response to the rearview mirror being stuck, control the rearview mirror to move a first distance in a first direction.

[0044] In one possible implementation, the first control module is configured to, during the process of adjusting the rearview mirror of the vehicle to a target position, determine a first position change of the rearview mirror based on a first real-time position and a first historical position of the rearview mirror, wherein the first historical position is the position of the rearview mirror before a first preset time period, and the position change is used to indicate the position change; if the first position change meets a first preset condition, determine a second position change of the rearview mirror based on a second real-time position and the first historical position, wherein the second real-time position is the position of the rearview mirror after a second preset time period, given that the rearview mirror has reached the first real-time position; if the second position change meets a second preset condition, determine that the rearview mirror has become stuck; if the first position change does not meet the first preset condition, or the second position change does not meet the second preset condition, determine that the rearview mirror has not become stuck.

[0045] In one possible implementation, the device further includes:

[0046] The alarm module is used to trigger a fault alarm when the number of times the rearview mirror surface gets stuck reaches a preset number. The fault alarm is used to indicate that the rearview mirror surface is stuck and cannot automatically disengage.

[0047] In one possible implementation, the target position includes a first position in the second direction and a second position in the fourth direction, and the device further includes:

[0048] The fourth control module is used to, during the process of adjusting the rearview mirror of the vehicle to the target position, respond to the rearview mirror becoming stuck, control the rearview mirror to move towards the second position in the fourth direction, the fourth direction being perpendicular to the second direction; and when the rearview mirror has moved to the second position, control the rearview mirror to move towards the first position in the second direction.

[0049] On one hand, a vehicle is provided, the vehicle including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the program code being loaded and executed by the one or more processors to implement the operations performed by the rearview mirror adjustment method of the vehicle.

[0050] On one hand, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the program code being loaded and executed by a processor to implement the operations performed by the method for adjusting the rearview mirror of the vehicle.

[0051] The technical solution provided in this application, during the process of adjusting the rearview mirror of a vehicle to a target position, responds to a jamming of the rearview mirror surface, controls the rearview mirror surface to move a first distance in a first direction, so that the rearview mirror surface moves away from the jamming position. Once the rearview mirror surface has moved away from the jamming position, it is controlled to move a second distance in a third direction, so that the rearview mirror surface further moves away from and around the jamming position. After the rearview mirror surface has moved a second distance in a third direction, it is then controlled to move towards the target position, thereby achieving automatic unjamming of the rearview mirror surface and improving driving safety. Attached Figure Description

[0052] Figure 1 This is a schematic diagram illustrating the implementation environment of a method for adjusting the mirror surface of a vehicle according to an embodiment of this application;

[0053] Figure 2 This is a flowchart illustrating a method for adjusting the mirror surface of a vehicle according to an embodiment of this application;

[0054] Figure 3This is a flowchart of another method for adjusting the mirror surface of a vehicle according to an embodiment of this application;

[0055] Figure 4 This is a flowchart of another method for adjusting the mirror surface of a vehicle according to an embodiment of this application;

[0056] Figure 5 This is a flowchart of another method for adjusting the mirror surface of a vehicle according to an embodiment of this application;

[0057] Figure 6 This is a schematic diagram of the structure of a vehicle rearview mirror adjustment device provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0059] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0060] In the following text, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features reflected. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0061] Rearview mirrors: Rearview mirrors are an important component of a vehicle, primarily used to reflect the situation behind, to the sides, and below the vehicle, thus expanding the driver's field of vision. They are installed on the left and right sides of the front of the vehicle and are divided into three types: exterior rearview mirrors, lower rearview mirrors, and interior rearview mirrors, each responsible for a different area of ​​vision. In this embodiment, rearview mirrors refer to the exterior rearview mirrors of the vehicle.

[0062] Rearview mirror mirror: An important component of rearview mirrors, including plane mirrors and convex mirrors. Generally speaking, the mirror surface of the exterior rearview mirror is a convex mirror to provide a wider field of vision.

[0063] Jamming: refers to a situation where a part of a mechanical device cannot move normally during operation due to various reasons. In the embodiments of this application, it refers to the rearview mirror surface being unable to move normally to the designated position.

[0064] Stepper motor: also known as pulse motor, is an electric motor that converts electrical pulse signals into angular or linear displacement. Each time a pulse signal is input, the rotor rotates by one step angle. The output angular or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency. In this embodiment, the rearview mirror adjustment motor is a stepper motor.

[0065] The implementation environment of the embodiments of this application is described below. See also... Figure 1 The implementation environment of the vehicle rearview mirror adjustment method provided in this application embodiment includes an in-vehicle terminal 101 and a rearview mirror controller 102.

[0066] The vehicle-mounted terminal 101 is a terminal installed on the vehicle, possessing data acquisition and processing capabilities. The vehicle-mounted terminal 101 is connected to multiple component controllers and multiple sensors of the vehicle via wired connections. The vehicle-mounted terminal 101 can control the multiple component controllers of the vehicle, and different component controllers can control different vehicle components. In this embodiment, the multiple component controllers include a rearview mirror controller 102, which is used to control the rearview mirrors of the vehicle, that is, to control the position of the rearview mirror surfaces.

[0067] After introducing the implementation environment of the embodiments of this application, the application scenarios of the technical solutions provided by the embodiments of this application will be described below. The technical solutions provided by the embodiments of this application can be applied to any vehicle with rearview mirror adjustment function.

[0068] The technical solution provided in this application embodiment can automatically disengage when the rearview mirror surface becomes stuck, allowing the rearview mirror to be adjusted to the position desired by the driver, thereby improving driving safety.

[0069] After introducing the implementation environment and application scenarios of the embodiments of this application, the technical solutions provided by the embodiments of this application are described below. (See also...) Figure 2 Taking the vehicle-mounted terminal as the executing entity as an example, the method includes the following steps.

[0070] 201. During the process of adjusting the rearview mirror of the vehicle to the target position, in response to the rearview mirror becoming stuck, the vehicle terminal controls the rearview mirror to move the mirror in a first direction by a first distance. The first direction is the opposite of the second direction, which is the direction of movement before the rearview mirror became stuck.

[0071] The target position is the position indicated by the driver, which includes a first position and a second position. The first and second positions are located in two mutually perpendicular directions, such as the first position being a lateral position and the second position being a longitudinal position. The rearview mirror can move independently in two mutually perpendicular directions, thus being adjusted to different positions indicated by the driver. Rearview mirror jamming indicates that the rearview mirror cannot move normally to the designated position. Jamming may be due to foreign objects behind the rearview mirror or the rearview mirror being stuck by the rearview mirror housing. The second direction is the direction in which the rearview mirror is moving before and after jamming. If the rearview mirror is not jammed, it can move in the second direction to the first position. The first distance is set by a technician according to actual conditions; this embodiment does not limit this setting.

[0072] 202. When the rearview mirror moves the first distance in the first direction, the vehicle terminal controls the rearview mirror to move the third distance in a third direction, which is perpendicular to the first direction.

[0073] Wherein, the third direction is perpendicular to the first direction. If the first direction is horizontal, the third direction is vertical, for example, vertically upward or vertically downward. The second distance is set by a technician according to the actual situation, and this application embodiment does not limit it.

[0074] 203. When the rearview mirror moves a second distance in a third direction, the vehicle terminal controls the rearview mirror to move towards the target position.

[0075] The rearview mirror is moved a second distance in a third direction to bypass the jamming point, which is an attempt to disengage it. The target position is the position indicated by the driver. After attempting to disengage the mirror, it needs to be moved to the target position to adjust the mirror according to the driver's instructions.

[0076] The technical solution provided in this application, during the process of adjusting the rearview mirror of a vehicle to a target position, responds to a jamming of the rearview mirror surface, controls the rearview mirror surface to move a first distance in a first direction, so that the rearview mirror surface moves away from the jamming position. Once the rearview mirror surface has moved away from the jamming position, it is controlled to move a second distance in a third direction, so that the rearview mirror surface further moves away from and around the jamming position. After the rearview mirror surface has moved a second distance in a third direction, it is then controlled to move towards the target position, thereby achieving automatic unjamming of the rearview mirror surface and improving driving safety.

[0077] It should be noted that steps 201-203 above are a simplified explanation of the method for adjusting the rearview mirror surface of a vehicle provided in this application embodiment. The following will provide a more detailed explanation of the method for adjusting the rearview mirror surface of a vehicle provided in this application embodiment, using some examples. See [link to relevant documentation]. Figure 3 Taking the vehicle-mounted terminal as the executing entity as an example, the method includes the following steps.

[0078] 301. During the process of adjusting the rearview mirror of the vehicle to the target position, the vehicle terminal determines whether the rearview mirror is stuck based on the positional change of the rearview mirror.

[0079] The rearview mirror refers to either of the two exterior rearview mirrors of the vehicle. The target position is the position indicated by the driver, which includes a first position and a second position. The first and second positions are located in two mutually perpendicular directions, such as the first position being a lateral position and the second position being a longitudinal position. The rearview mirror surface can move independently in two mutually perpendicular directions, thus allowing it to be adjusted to different positions indicated by the driver. In some embodiments, the target position is a memory position of the rearview mirror, which is a pre-configured rearview mirror position. The driver can select different memory positions as needed to achieve the selection of the target position. Alternatively, the target position is the position selected by the driver through dragging the rearview mirror on the vehicle model on the central control screen. Or, the target position is the rearview mirror position corresponding to the pressing of the rearview mirror adjustment button; the target position is updated each time the rearview mirror adjustment button is pressed. Rearview mirror surface jamming indicates that the rearview mirror surface cannot move normally to the designated position. Jamming may be due to foreign objects behind the rearview mirror surface or the rearview mirror surface being blocked by the rearview mirror housing. A jammed rearview mirror can affect its normal position. Therefore, observing the positional changes of the rearview mirror can help determine if it is jammed. In this embodiment, the position of the rearview mirror can be described using two dimensions: horizontal (left-right) and vertical (up-down). The horizontal direction includes two directions: horizontal to the left and horizontal to the right. Similarly, the vertical direction includes two directions: vertically upward and vertically downward. When using coordinate axes to represent these two dimensions, the position of the rearview mirror can be represented by coordinates in these two dimensions. For example, the position of the rearview mirror can be represented by coordinates (a, b), where a represents the horizontal / vertical coordinate of the rearview mirror, and b represents the vertical / horizontal coordinate of the rearview mirror.

[0080] In one possible implementation, during the adjustment of the rearview mirror towards a target position, the vehicle terminal determines a first position change of the rearview mirror based on a first real-time position and a first historical position. The first historical position is the position of the rearview mirror before a first preset time period, and the position change indicates the position change. If the first position change meets a first preset condition, the vehicle terminal determines a second position change of the rearview mirror based on a second real-time position and the first historical position. The second real-time position is the position of the rearview mirror after reaching the first real-time position, two preset time periods later. If the second position change meets a second preset condition, the vehicle terminal determines that the rearview mirror is stuck. If the first position change does not meet the first preset condition, or the second position change does not meet the second preset condition, the vehicle terminal determines that the rearview mirror is not stuck.

[0081] The first real-time position is the position of the rearview mirror when determining whether the rearview mirror is stuck. In some embodiments, the first preset duration and the second preset duration can be the same or different. The first preset duration and the second preset duration are set by technicians according to actual conditions, such as both being set to 300ms, etc., and this application embodiment does not limit this. The first preset condition is associated with the first preset duration. The first preset condition is used to determine whether the change in position of the rearview mirror within the first preset duration is normal, that is, to determine whether the first change in position is normal, thereby achieving a preliminary judgment of rearview mirror sticking. The second preset condition is associated with the sum of the first preset duration and the second preset duration. The second preset condition is used to determine whether the change in position of the rearview mirror within the first preset duration and the second preset duration is normal, that is, to determine whether the second change in position is normal, thereby further determining whether the rearview mirror is stuck. The first preset condition and the second preset condition are set by technicians according to actual conditions, and this application embodiment does not limit this.

[0082] In this implementation, the rearview mirror surface is preliminarily judged to be stuck by using the first position change and the first preset condition within a first preset time period. Then, the rearview mirror surface is further judged to be stuck by using the second position change and the second preset condition within a first and a second preset time period. The accuracy of the stuck judgment is relatively high.

[0083] For example, during the adjustment of a vehicle's rearview mirror towards a target position, the on-board terminal determines a first change in the mirror's position based on the coordinates of its first real-time position and its first historical position. If this first change in position is less than a first preset change in position, the on-board terminal determines that the rearview mirror may be stuck and determines a second change in position based on the coordinates of its second real-time position and its first historical position. If this second change in position is less than a second preset change in position, the on-board terminal determines that the rearview mirror is stuck. Furthermore, if the first change in position is greater than or equal to the first preset change in position, or the second change in position is greater than or equal to the second preset change in position, the on-board terminal determines that the rearview mirror is not stuck.

[0084] Wherein, if the change in the first position is less than the change in the first preset position, it indicates that the change in the first position meets the first preset condition; if the change in the first position is greater than or equal to the change in the first preset position, it indicates that the change in the first position does not meet the first preset condition. If the change in the second position is less than the change in the second preset position, it indicates that the change in the second position meets the second preset condition; if the change in the second position is greater than or equal to the change in the second preset position, it indicates that the change in the second position does not meet the second preset condition. The change in the first preset position is positively correlated with the first preset duration, and the change in the second preset position is positively correlated with the sum of the first preset duration and the second preset duration. The change in the first preset position and the change in the second preset position are set by technicians according to actual conditions, and this application embodiment does not limit this.

[0085] For example, during the process of adjusting the rearview mirror of a vehicle to a target position, the vehicle terminal subtracts the sum of the first and second coordinates to obtain the first change in position of the rearview mirror. The first coordinate sum is the sum of the x and y coordinates of the first real-time position, and the second coordinate sum is the sum of the x and y coordinates of the first historical position. If the first change in position is less than a first preset change in position, the vehicle terminal determines that the rearview mirror may be stuck and subtracts the sum of the third and second coordinates to obtain the second change in position of the rearview mirror. The third coordinate sum is the sum of the x and y coordinates of the second real-time position. If the second change in position is less than a second preset change in position, the vehicle terminal determines that the rearview mirror is stuck. Conversely, if the first change in position is greater than or equal to the first preset change in position, or the second change in position is greater than or equal to the second preset change in position, the vehicle terminal determines that the rearview mirror is not stuck.

[0086] The following example illustrates the situation with a first preset duration of 300ms and a second preset duration of 300ms, a first real-time position coordinate of (X2, Y2), a first historical position coordinate of (X1, Y1), a second real-time position coordinate of (X3, Y3), a first preset position change of 6 units, and a second preset position change of 12 units.

[0087] During the adjustment of the vehicle's rearview mirror towards the target position, the on-board terminal subtracts the sum of the first coordinates (X2+Y2) from the sum of the second coordinates (X1+Y1) to obtain the first position change Z1 of the rearview mirror, i.e., Z1 = (X2+Y2) - (X1+Y1). If Z1 is less than 6 units, the on-board terminal determines that the rearview mirror is suspected of being stuck and sets a flag. The on-board terminal subtracts the sum of the third coordinates (X3, Y3) from the sum of the second coordinates (X1+Y1) to obtain the second position change Z2 of the rearview mirror, i.e., Z2 = (X3+Y3) - (X1+Y1). If Z2 is less than 12 units, the on-board terminal determines that the rearview mirror is stuck. If Z1 is greater than or equal to 6 units, or Z2 is greater than or equal to 12 units, the on-board terminal determines that the rearview mirror is not stuck.

[0088] It should be noted that during the process of adjusting the rearview mirror to the target position, the vehicle terminal will perform multiple rounds of jamming judgment based on the positional change of the rearview mirror. For example, a jamming judgment is performed every 300ms. The above description is based on a single jamming judgment. The jamming judgment process in other rounds is the same as described above and belongs to the same inventive concept. The implementation process will not be repeated here.

[0089] In some embodiments, the vehicle terminal has two storage spaces in its memory to store the position of the rearview mirror. The position stored first will be overwritten by the position stored later, thereby reducing the storage space occupied.

[0090] Another implementation of step 301 described above will be described below.

[0091] In one possible implementation, during the adjustment of the rearview mirror towards the target position, the vehicle terminal determines a first position change of the rearview mirror based on a first real-time position and a first historical position. If the first position change meets a first preset condition, the vehicle terminal determines a third position change of the rearview mirror based on a second real-time position and the first real-time position. If the third position change meets a third preset condition, the vehicle terminal determines that the rearview mirror is stuck. If the first position change does not meet the first preset condition, or the third position change does not meet the third preset condition, the vehicle terminal determines that the rearview mirror is not stuck.

[0092] The third preset condition is related to the second preset duration. The third preset condition is used to determine whether the position change of the rearview mirror surface within the second preset duration is normal, that is, to determine whether the third position change is normal, thereby further determining whether the rearview mirror surface is stuck.

[0093] In this implementation, the rearview mirror surface is preliminarily judged to be stuck by using the first position change and the first preset condition within a first preset time period. Then, the rearview mirror surface is further judged to be stuck by using the second position change and the second preset condition within a second preset time period. The accuracy of the stuck judgment is relatively high.

[0094] For example, during the adjustment of the rearview mirror towards a target position, the vehicle terminal determines a first positional change of the rearview mirror based on the coordinates of the mirror's first real-time position and its first historical position. If this first positional change is less than a first preset positional change, the vehicle terminal determines that the rearview mirror may be stuck and determines a third positional change based on the coordinates of the mirror's second real-time position and its first real-time position. If this third positional change is less than a third preset positional change, the vehicle terminal determines that the rearview mirror is stuck. Furthermore, if the first positional change is greater than or equal to the first preset positional change, or the third positional change is greater than or equal to the third preset positional change, the vehicle terminal determines that the rearview mirror is not stuck.

[0095] Wherein, if the change in the third position is less than the change in the third preset position, it indicates that the change in the third position meets the third preset condition; if the change in the third position is greater than or equal to the change in the third preset position, it indicates that the change in the third position does not meet the third preset condition. The change in the third preset position is positively correlated with the third preset duration, and the change in the third preset position is set by technicians according to actual conditions, which is not limited in this embodiment.

[0096] 302. In response to the jamming of the rearview mirror, the vehicle terminal controls the rearview mirror to move a first distance in a first direction, the first direction being the opposite of the second direction, the second direction being the direction of movement before the jamming of the rearview mirror.

[0097] The second direction is the direction in which the jammed rearview mirror is moving. If the rearview mirror is not jammed, it can move in the second direction to the first position, thus moving away from the jammed position. The first distance is set by technicians according to actual conditions, such as 6 units, etc., and this application embodiment does not limit this.

[0098] In one possible implementation, in response to the rearview mirror surface becoming stuck, the vehicle terminal controls the first rearview mirror adjustment motor to stop operating. This first rearview mirror motor controls the rearview mirror surface to move in either the first or second direction. After a first preset time period, the vehicle terminal controls the first rearview mirror adjustment motor to rotate in the direction of a first target motor, thereby controlling the rearview mirror surface to move a first distance in the first direction. The direction of rotation of the first target motor is opposite to the direction of rotation of the motor corresponding to the second direction.

[0099] The first rearview mirror adjustment motor is used to adjust the movement of the rearview mirror surface in one dimension. A second rearview mirror adjustment motor is also used for adjustment in another dimension; that is, controlling the second rearview mirror adjustment motor can control the movement of the rearview mirror surface in another dimension. The method of controlling the second rearview mirror and the method of controlling the first rearview mirror adjustment motor belong to the same inventive concept. The first rearview mirror adjustment motor is a stepper motor. Using the first rearview mirror adjustment motor, the movement of the rearview mirror surface in a certain dimension can be controlled. For example, the first rearview mirror adjustment motor can control the movement of the rearview mirror surface in opposite first and second directions. Furthermore, since the first rearview mirror adjustment motor is a stepper motor, the position of the rearview mirror surface in the first or second direction can also be determined using the first rearview mirror adjustment motor. In this embodiment, the first rearview mirror adjustment motor rotates in different motor rotation directions, enabling control of the rearview mirror surface movement in different directions within a certain dimension. Furthermore, the movement distance of the rearview mirror surface can be determined based on the number of rotations of the first rearview mirror adjustment motor. The motor rotation direction corresponding to the second direction refers to the direction of motor rotation when the first rearview mirror adjustment motor moves the rearview mirror surface in the second direction. Correspondingly, since the first direction and the second direction are opposite, the motor rotation direction corresponding to the first direction is also opposite to the motor rotation direction corresponding to the second motor.

[0100] In this implementation, if the rearview mirror becomes stuck, the first rearview mirror adjustment motor is stopped to prevent damage to both the motor and the mirror. After a first preset time, the first rearview mirror adjustment motor is rotated in the direction of the first target motor, thereby moving the mirror away from the stuck position.

[0101] For example, in response to the rearview mirror becoming stuck, the vehicle terminal sends a stop command to the rearview mirror adjustment controller. This stop command instructs the first rearview mirror adjustment motor to stop operating. Upon receiving the stop command, the rearview mirror adjustment controller stops the first rearview mirror adjustment motor. After a first preset time, the vehicle terminal sends a first drive command to the rearview mirror adjustment controller. This first drive command instructs the first rearview mirror adjustment motor to rotate a first preset number of revolutions in the direction of rotation of the first target motor. This first preset number of revolutions corresponds to a first distance. Upon receiving the first drive command, the rearview mirror adjustment controller controls the first rearview mirror adjustment motor to rotate the first preset number of revolutions in the direction of rotation of the first target motor, thereby controlling the rearview mirror to move the mirror surface a first distance in the first direction.

[0102] The following example illustrates the concept of a first preset duration of 300ms, a second direction of horizontal to the right, a first direction of horizontal to the right, and a first distance of 6 units.

[0103] In response to the jamming of the rearview mirror, the vehicle terminal sends a stop command to the rearview mirror adjustment controller, instructing the first rearview mirror adjustment motor to stop operating. Upon receiving the stop command, the rearview mirror adjustment controller stops the first rearview mirror adjustment motor. After 300ms, the vehicle terminal sends a first drive command to the rearview mirror adjustment controller, instructing the first rearview mirror adjustment motor to rotate a first preset number of revolutions in the direction of the first target motor. Upon receiving the first drive command, the rearview mirror adjustment controller controls the first rearview mirror adjustment motor to rotate the first preset number of revolutions in the direction of the first target motor, thereby controlling the rearview mirror to move horizontally to the right by 6 units.

[0104] It should be noted that during the process of adjusting the rearview mirror to the target position, the rearview mirror may get stuck multiple times. For example, if the rearview mirror gets stuck for the first time, the vehicle terminal will control the rearview mirror to disengage. During the disengagement process, the rearview mirror may get stuck again. Based on this, the vehicle terminal can perform the following steps according to the number of times the jamming occurs.

[0105] In one possible implementation, if the number of times the rearview mirror surface becomes stuck reaches a preset number, the vehicle terminal triggers a fault alarm, which indicates that the rearview mirror surface is stuck and cannot automatically disengage.

[0106] The preset number of times is set by technicians according to the actual situation, such as 3. This application embodiment does not limit this.

[0107] In this implementation, if the rearview mirror becomes stuck a preset number of times, a fault alarm can be triggered, thereby reminding the driver to deal with the sticking of the rearview mirror in a timely manner to avoid affecting driving safety.

[0108] In some embodiments, when a fault alarm is triggered, the vehicle terminal stops controlling the rearview mirror to detach, in order to avoid damage to the rearview mirror.

[0109] 303. When the rearview mirror moves the first distance in the first direction, the vehicle terminal controls the rearview mirror to move the third distance in a third direction, which is perpendicular to the first direction.

[0110] Wherein, the third direction is perpendicular to the first direction. If the first direction is horizontal, the third direction is vertical, for example, vertically upward or vertically downward. The second distance is set by a technician according to the actual situation, and this application embodiment does not limit it.

[0111] In one possible implementation, when the rearview mirror surface moves the first distance in the first direction, the vehicle terminal determines the third direction based on a target control command, which is an instruction to adjust the rearview mirror surface to the target position. The vehicle terminal then controls the rearview mirror surface to move a second distance in the third direction.

[0112] The target control command is used to instruct the rearview mirror to be adjusted to the target position. This target control command is triggered in response to the driver's operation, such as dragging the rearview mirror on the vehicle model on the central control screen, or pressing the rearview mirror adjustment button. This embodiment does not limit the specific actions taken in this case. The fact that the third direction is perpendicular to the first direction means that the third direction and the first direction are in different dimensions.

[0113] In this implementation, when the rearview mirror becomes stuck in one dimension, the mirror is moved in another dimension according to the target control command, thereby bypassing the stuck position and achieving automatic unblocking of the rearview mirror.

[0114] To provide a clearer explanation of the above embodiments, the following description will be divided into two parts.

[0115] In the first part, when the rearview mirror moves the first distance in the first direction, the vehicle terminal determines the third direction based on the target control command, which is an instruction to adjust the rearview mirror to the target position.

[0116] In one possible implementation, when the rearview mirror moves the first distance in the first direction and the target control command instructs the rearview mirror to move in a fourth direction perpendicular to the second direction, the vehicle terminal determines the fourth direction as the third direction. When the rearview mirror moves the first distance in the first direction and the target control command does not instruct the rearview mirror to move in a fourth direction perpendicular to the second direction, the vehicle terminal determines a preset direction perpendicular to the second direction as the third direction.

[0117] Since the rearview mirror can be adjusted in two dimensions, the target control command may instruct the rearview mirror to adjust its position in one dimension or in both dimensions. In other words, the target control command may instruct position adjustment only in the second direction or in both the second and fourth directions. The fourth direction is perpendicular to the second direction. If the second direction is horizontal, the fourth direction is vertical, for example, vertically upward or vertically downward. The preset direction is set by the technician according to the actual situation. For example, if the second direction is horizontal, the preset direction is vertically upward; if the second direction is vertical, the preset direction is horizontal to the right. This application embodiment does not limit this.

[0118] Part Two: The vehicle terminal controls the rearview mirror to move a second distance in a third direction.

[0119] In one possible implementation, the vehicle terminal controls the second rearview mirror adjustment motor to rotate in the direction of rotation of the second target motor, so as to control the rearview mirror to move a second distance in a third direction, the direction of rotation of the second target motor corresponding to the third direction.

[0120] For example, the vehicle terminal sends a second drive command to the rearview mirror adjustment controller. This second drive command instructs the second rearview mirror adjustment motor to rotate a second preset number of revolutions in the direction of rotation of the second target motor. This second preset number of revolutions corresponds to the second distance. Upon receiving the second drive command, the rearview mirror adjustment controller controls the second rearview mirror adjustment motor to rotate the second preset number of revolutions in the direction of rotation of the second target motor, thereby controlling the rearview mirror to move a second distance in the third direction.

[0121] 304. When the rearview mirror moves a second distance in a third direction, the vehicle terminal controls the rearview mirror to move towards the target position.

[0122] The rearview mirror is moved a second distance in a third direction to bypass the jamming point, which is an attempt to disengage it. The target position is the position indicated by the driver. After attempting to disengage the mirror, it needs to be moved to the target position to adjust the mirror according to the driver's instructions.

[0123] In one possible implementation, the target position includes a first position in the second direction and a second position in a fourth direction, the fourth direction being perpendicular to the second direction. When the rearview mirror moves a second distance in the third direction, the vehicle terminal controls the rearview mirror to move a third distance in the second direction, so that the rearview mirror surface moves to the first position in the second direction. When the rearview mirror moves a third distance in the second direction, the vehicle terminal controls the rearview mirror to move a fourth distance in the fourth direction, so that the rearview mirror surface moves to the second position in the fourth direction.

[0124] In this context, the second and fourth directions belong to different dimensions. Therefore, the first and second positions are located in different dimensions. For example, the first position is in the horizontal direction, and the second position is in the vertical direction. When the rearview mirror moves from the second direction to the first position and from the fourth direction to the second position, it means that the rearview mirror has moved to the target position.

[0125] In this implementation, after the rearview mirror attempts to disengage, the rearview mirror is controlled to move in two dimensions to the target position.

[0126] For example, when the rearview mirror moves a second distance in a third direction, the vehicle terminal sends a third drive command to the rearview mirror adjustment controller. This third drive command instructs the first rearview mirror adjustment motor to rotate a first target number of revolutions in the direction of the third target motor, where the first target number of revolutions corresponds to the third distance. Upon receiving this third drive command, the rearview mirror adjustment controller controls the first rearview mirror adjustment motor to rotate the first target number of revolutions in the direction of the third target motor, thereby controlling the rearview mirror to move a third distance in the second direction. When the rearview mirror moves a third distance in the second direction, the vehicle terminal sends a fourth drive command to the rearview mirror adjustment controller. This fourth drive command instructs the second rearview mirror adjustment motor to rotate a second target number of revolutions in the direction of the fourth target motor, where the second target number of revolutions corresponds to the fourth distance. Upon receiving this fourth drive command, the rearview mirror adjustment controller controls the second rearview mirror adjustment motor to rotate the second target number of revolutions in the direction of the fourth target motor, thereby controlling the rearview mirror to move a fourth distance in the fourth direction.

[0127] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0128] The technical solution provided in this application, during the process of adjusting the rearview mirror of a vehicle to a target position, responds to a jamming of the rearview mirror surface, controls the rearview mirror surface to move a first distance in a first direction, so that the rearview mirror surface moves away from the jamming position. Once the rearview mirror surface has moved away from the jamming position, it is controlled to move a second distance in a third direction, so that the rearview mirror surface further moves away from and around the jamming position. After the rearview mirror surface has moved a second distance in a third direction, it is then controlled to move towards the target position, thereby achieving automatic unjamming of the rearview mirror surface and improving driving safety.

[0129] To provide a clearer explanation of the technical solutions provided in the embodiments of this application, the following description uses a complete rearview mirror adjustment process as an example. (See attached text.) Figure 4 Taking the vehicle-mounted terminal as the implementing entity as an example, the method includes the following steps.

[0130] 401. In response to a target control command, the vehicle terminal determines the initial position of the rearview mirror and controls the rearview mirror to move towards the target position. The target control command is an instruction to adjust the rearview mirror to the target position.

[0131] This starting position is the first historical position.

[0132] 402. After the first preset time period, the vehicle terminal determines the first real-time position of the rearview mirror surface.

[0133] 403. The vehicle terminal determines the first position change of the rearview mirror surface based on the first real-time position and the initial position.

[0134] Optionally, after step 403, the vehicle terminal may execute steps 404 or 405 as required by the actual situation. This application embodiment does not limit this.

[0135] 404. If the change in the first position is greater than or equal to the change in the first preset position, the vehicle terminal determines that the rearview mirror surface has not become stuck within the first preset time period.

[0136] 405. If the change in the first position is less than the change in the first preset position, the vehicle terminal determines that the rearview mirror surface is suspected to be stuck within the first preset time period and sets up the target marker position.

[0137] 406. After the second preset time period, the vehicle terminal determines the second real-time position of the rearview mirror surface.

[0138] 407. The vehicle terminal determines the second position change of the rearview mirror surface based on the second real-time position and the initial position.

[0139] Optionally, after step 407, the vehicle terminal may execute steps 408 or 409 as required by the actual situation. This application embodiment does not limit this.

[0140] 408. If the change in the second position is greater than or equal to the change in the second preset position, the vehicle terminal determines that the rearview mirror surface has not become stuck within the second preset time period and clears the target marker position.

[0141] 409. If the change in the second position is less than the change in the second preset position, the vehicle terminal determines that the rearview mirror surface is stuck.

[0142] 410. In the event that the rearview mirror surface becomes stuck, the vehicle terminal controls the rearview mirror surface to detach from the stick.

[0143] The method of controlling the rearview mirror to detach from the clip is described in the relevant descriptions of steps 302 and 303 above. The implementation process is described in the relevant descriptions of steps 302 and 303 above, and will not be repeated here.

[0144] 411. Once the rearview mirror surface has been detached from the card, the vehicle terminal controls the rearview mirror surface to move towards the target position.

[0145] The method of controlling the rearview mirror to move toward the target position is described in the relevant description of step 304 above. The implementation process is described in the relevant description of step 304 above, and will not be repeated here.

[0146] This application also provides another method for adjusting the rearview mirror surface of a vehicle, see [link to relevant documentation]. Figure 5 Taking the vehicle-mounted terminal as the executing entity as an example, the method includes the following steps.

[0147] 501. During the process of adjusting the rearview mirror of the vehicle to the target position, in response to the rearview mirror becoming stuck, the rearview mirror is controlled to move towards the second position in the fourth direction, the fourth direction being perpendicular to the second direction.

[0148] The second direction refers to the direction of movement of the rearview mirror before it becomes stuck. The target position includes a first position in the second direction and a second position in the fourth direction.

[0149] In some embodiments, during the adjustment of the rearview mirror, the vehicle terminal will prioritize controlling the rearview mirror to move in the vertical direction. This is because the rearview mirror is mostly rhomboid or elliptical. If the starting position is directly below the rhomboid (ellipse), adjusting the horizontal (left-right) direction first may encounter jamming due to the structure. In this case, if the vertical (up-down) direction is adjusted first, and the horizontal direction is adjusted after the vertical direction reaches the specified position, the jamming of the rearview mirror due to the structure can be avoided to the greatest extent.

[0150] Optionally, after step 501, the vehicle terminal may also perform the following steps.

[0151] In one possible implementation, as the rearview mirror moves toward the second position in the fourth direction, in response to the rearview mirror becoming stuck again, the vehicle terminal triggers a fault alarm, which is used to indicate that the rearview mirror is stuck and cannot be automatically disengaged.

[0152] 502. When the rearview mirror surface moves to the second position, control the rearview mirror surface to move towards the first position in the second direction.

[0153] Optionally, after step 502, the vehicle terminal may also perform the following steps.

[0154] In one possible implementation, as the rearview mirror moves toward the first position in the second direction, in response to the rearview mirror becoming stuck again, the vehicle terminal triggers a fault alarm, which is used to indicate that the rearview mirror is stuck and cannot be automatically disengaged.

[0155] In this implementation, if the rearview mirror gets stuck while moving in one dimension, the mirror is moved to another dimension. Once the mirror has moved to a designated position in the other dimension, it is moved back to the dimension where it got stuck, thus automatically releasing the mirror from the jam.

[0156] Figure 6 This is a schematic diagram of the structure of a rearview mirror adjustment device for a vehicle provided in an embodiment of this application. See also... Figure 6 The device includes: a first control module 601, a second control module 602 and a third control module 603.

[0157] The first control module 601 is used to control the rearview mirror to move a first distance in a first direction in response to the rearview mirror becoming stuck during the process of adjusting the rearview mirror to the target position. The first direction is the opposite of the second direction, which is the direction of movement before the rearview mirror becomes stuck.

[0158] The second control module 602 is used to control the rearview mirror to move a second distance in a third direction when the rearview mirror moves a first distance in the first direction, the third direction being perpendicular to the first direction.

[0159] The third control module 603 is used to control the rearview mirror to move towards the target position when the rearview mirror moves a second distance in a third direction.

[0160] In one possible implementation, the first control module 601 is configured to stop the operation of the first rearview mirror adjustment motor in response to the rearview mirror surface becoming stuck. The first rearview mirror motor is used to control the rearview mirror surface to move in the first direction or the second direction. After a first preset time period, the first rearview mirror adjustment motor is controlled to rotate in the rotation direction of the first target motor, so as to control the rearview mirror surface to move a first distance in the first direction. The rotation direction of the first target motor is opposite to the rotation direction of the motor corresponding to the second direction.

[0161] In one possible implementation, the second control module 602 is configured to, when the rearview mirror moves the first distance in the first direction, determine the third direction based on a target control command, wherein the target control command is an instruction to adjust the rearview mirror to the target position. It then controls the rearview mirror to move the third distance in the third direction.

[0162] In one possible implementation, the second control module 602 is configured to, when the target control command instructs the rearview mirror to be moved in a fourth direction perpendicular to the second direction, determine the fourth direction as the third direction. When the target control command does not instruct the rearview mirror to be moved in a fourth direction perpendicular to the second direction, a preset direction perpendicular to the second direction is determined as the third direction.

[0163] In one possible implementation, the target position includes a first position in the second direction and a second position in the fourth direction, the fourth direction being perpendicular to the second direction. The third control module 603 is configured to, when the rearview mirror moves a second distance in the third direction, control the rearview mirror to move a third distance in the second direction, so that the rearview mirror surface moves to the first position in the second direction. When the rearview mirror moves a third distance in the second direction, control the rearview mirror to move a fourth distance in the fourth direction, so that the rearview mirror surface moves to the second position in the fourth direction.

[0164] In one possible implementation, the first control module 601 is configured to determine whether the rearview mirror is stuck during the process of adjusting the rearview mirror surface of the vehicle towards the target position, based on the positional change of the rearview mirror surface. In response to the occurrence of sticking, the module controls the rearview mirror surface to move a first distance in a first direction.

[0165] In one possible implementation, the first control module 601 is configured to, during the process of adjusting the rearview mirror of the vehicle towards a target position, determine a first position change of the rearview mirror based on a first real-time position and a first historical position of the rearview mirror, where the first historical position is the position of the rearview mirror before a first preset time period, and the position change indicates the position change. If the first position change meets a first preset condition, a second position change of the rearview mirror is determined based on a second real-time position and the first historical position, where the second real-time position is the position of the rearview mirror after reaching the first real-time position, after a second preset time period. If the second position change meets a second preset condition, it is determined that the rearview mirror is stuck. If the first position change does not meet the first preset condition, or the second position change does not meet the second preset condition, it is determined that the rearview mirror is not stuck.

[0166] In one possible implementation, the device further includes:

[0167] The alarm module is used to trigger a fault alarm when the number of times the rearview mirror surface gets stuck reaches a preset number. The fault alarm is used to indicate that the rearview mirror surface is stuck and cannot be automatically disengaged.

[0168] In one possible implementation, the target position includes a first position in the second direction and a second position in the fourth direction, and the device further includes:

[0169] The fourth control module is used to, during the process of adjusting the rearview mirror of the vehicle to the target position, respond to the rearview mirror becoming stuck, control the rearview mirror to move towards the second position in the fourth direction, the fourth direction being perpendicular to the second direction. When the rearview mirror has moved to the second position, control the rearview mirror to move towards the first position in the second direction.

[0170] It should be noted that the rearview mirror adjustment device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the rearview mirror adjustment device and the rearview mirror adjustment method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0171] The technical solution provided in this application, during the process of adjusting the rearview mirror of a vehicle to a target position, responds to a jamming of the rearview mirror surface, controls the rearview mirror surface to move a first distance in a first direction, so that the rearview mirror surface moves away from the jamming position. Once the rearview mirror surface has moved away from the jamming position, it is controlled to move a second distance in a third direction, so that the rearview mirror surface further moves away from and around the jamming position. After the rearview mirror surface has moved a second distance in a third direction, it is then controlled to move towards the target position, thereby achieving automatic unjamming of the rearview mirror surface and improving driving safety.

[0172] This application also provides a vehicle. Figure 7 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0173] Typically, vehicle 700 includes one or more processors 701 and one or more memories 702.

[0174] Processor 701 may include one or more processing cores, such as a quad-core processor, a seven-core processor, etc. Processor 701 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 701 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 701 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 701 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0175] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 702 are used to store at least one computer program, which is executed by the processor 701 to implement the method for adjusting the rearview mirror surface of a vehicle provided in the method embodiments of this application.

[0176] Those skilled in the art will understand that Figure 7 The structure shown does not constitute a limitation on vehicle 700 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0177] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute the method for adjusting the rearview mirror of a vehicle provided in the above embodiments.

[0178] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described method steps to implement the method for adjusting the rearview mirror surface of a vehicle provided in the above embodiment.

[0179] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement the method for adjusting the rearview mirror surface of a vehicle provided in the above embodiment.

[0180] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0181] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0182] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0183] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of adjusting a mirror of a vehicle, characterized by, The method comprises: In the process of adjusting the rearview mirror of the vehicle to the target position, a first position change amount of the rearview mirror is determined based on a first real-time position and a first historical position of the rearview mirror, the first historical position being a position of the rearview mirror before a first preset time period, and the position change amount being used to represent a position change condition; In a case where the first position change amount meets a first preset condition, a second position change amount of the rearview mirror is determined based on a second real-time position and the first historical position of the rearview mirror, the second real-time position being a position of the rearview mirror after a second preset time period since the rearview mirror reaches the first real-time position; In a case where the second position change amount meets a second preset condition, it is determined that the rearview mirror is stuck; In a case where the first position change amount does not meet the first preset condition or the second position change amount does not meet the second preset condition, it is determined that the rearview mirror is not stuck; In response to the rearview mirror being stuck, the rearview mirror is controlled to move a first distance in a first direction, the first direction being opposite to a second direction, and the second direction being a moving direction of the rearview mirror before the rearview mirror is stuck; In a case where the rearview mirror moves the first distance in the first direction, the rearview mirror is controlled to move a second distance in a third direction, the third direction being perpendicular to the first direction; In a case where the rearview mirror moves the second distance in the third direction, the rearview mirror is controlled to move to the target position; The method further comprises: In the process of adjusting the rearview mirror of the vehicle to the target position, a plurality of stuck determinations are made based on a position change condition of the rearview mirror.

2. The method of claim 1, wherein, The response to the rearview mirror being stuck, the rearview mirror being controlled to move a first distance in a first direction, comprises: In response to the rearview mirror being stuck, a first rearview mirror adjusting motor is controlled to stop running, the first rearview mirror adjusting motor being used to control the rearview mirror to move in the first direction or the second direction; After a first preset time period, the first rearview mirror adjusting motor is controlled to rotate in a first target motor rotation direction to control the rearview mirror to move the first distance in the first direction, the first target motor rotation direction being opposite to a motor rotation direction corresponding to the second direction.

3. The method of claim 1, wherein, The control of the rearview mirror to move a second distance in a third direction in a case where the rearview mirror moves the first distance in the first direction, comprises: In the case where the rearview mirror moves the first distance in the first direction, a target control instruction is used to determine the third direction, the target control instruction being an instruction indicating adjustment of the rearview mirror to the target position; The rearview mirror is controlled to move the second distance in the third direction.

4. The method of claim 3, wherein, The determination of the third direction based on the target control instruction, comprises: In a case where the target control instruction indicates moving the mirror surface of the rearview mirror in a fourth direction perpendicular to the second direction, the fourth direction is determined as the third direction; In a case where the target control instruction does not indicate moving the mirror surface of the rearview mirror in a fourth direction perpendicular to the second direction, a preset direction perpendicular to the second direction is determined as the third direction.

5. The method of claim 1, wherein, The target position includes a first position in the second direction and a second position in a fourth direction perpendicular to the second direction, and the controlling the mirror surface of the rearview mirror to move to the target position in a case where the mirror surface of the rearview mirror moves in the third direction by a second distance includes: controlling the mirror surface of the rearview mirror to move in the second direction by a third distance in a case where the mirror surface of the rearview mirror moves in the third direction by the second distance, so that the mirror surface of the rearview mirror moves to the first position in the second direction; controlling the mirror surface of the rearview mirror to move in the fourth direction by a fourth distance in a case where the mirror surface of the rearview mirror moves in the second direction by the third distance, so that the mirror surface of the rearview mirror moves to the second position in the fourth direction.

6. The method of claim 1, wherein, The method further includes: in a case where the number of times of continuous occurrence of the jamming of the mirror surface of the rearview mirror reaches a preset number of times, triggering a fault alarm, the fault alarm being used to prompt that the mirror surface of the rearview mirror is jammed and cannot be automatically unjammed.

7. The method of claim 1, wherein, The target position includes a first position in the second direction and a second position in a fourth direction perpendicular to the second direction, and the method further includes: in a process of adjusting the mirror surface of the rearview mirror of the vehicle to a target position, in response to the occurrence of the jamming of the mirror surface of the rearview mirror, controlling the mirror surface of the rearview mirror to move in the fourth direction towards the second position, the fourth direction being perpendicular to the second direction; in a case where the mirror surface of the rearview mirror moves to the second position, controlling the mirror surface of the rearview mirror to move in the second direction towards the first position.

8. A vehicle characterized by comprising: The vehicle includes: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the vehicle executes the adjusting method of the mirror surface of the rearview mirror of the vehicle as claimed in any one of claims 1 to 7.

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