Vehicle rearview mirror control method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a vehicle rearview mirror control method and device, computer equipment and a storage medium, and the method comprises the steps: calling image collection equipment installed at the rear part of a target vehicle, and obtaining environment data in a preset range; analyzing the environment data to obtain track information of the target vehicle and obstacle information in a preset range; calculating an adjustment angle of a rearview mirror on the target vehicle according to the obstacle information and the track information; and controlling the rearview mirror to execute adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position. The problems that an existing vehicle rearview mirror has a visual angle blind area, lacks intelligent recognition capacity and cannot adjust the angle in real time are solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control method, device, computer equipment and storage medium for a vehicle rearview mirror. Background Art

[0002] In modern car driving, rearview mirrors are key tools for drivers to observe the vehicle's surroundings, and their design and function have a direct impact on driving safety and convenience. However, the fixed design of existing car rearview mirrors has a significant visual blind spot problem, which is particularly prominent when turning slowly or changing lanes, increasing the risk of collision accidents.

[0003] Although the existing semi-automatic adjustment system of the rearview mirror solves the problem of the fixed angle of the rearview mirror, it lacks intelligent recognition capabilities and cannot adjust the angle of the rearview mirror in real time according to the specific driving situation, so its effect in practical application is limited. In addition, although some designs try to add in-car display devices to assist observation, this approach increases the risk of the driver turning his head and being distracted, bringing new safety hazards. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a control method, device, computer equipment and storage medium for a vehicle rearview mirror to solve the problems of existing vehicle rearview mirrors having blind spots, lacking intelligent recognition capabilities, and being unable to adjust angles in real time.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle rearview mirror, the method comprising:

[0006] Calling the image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range;

[0007] Analyze the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range;

[0008] Calculating an adjustment angle of a rearview mirror on the target vehicle according to the obstacle information and the trajectory information;

[0009] The rearview mirror is controlled to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

[0010] In an optional implementation manner of the present application, analyzing the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range includes:

[0011] Extracting entity data and road data from the environmental data;

[0012] Identify dynamic obstacles and static obstacles within a preset range according to the entity data;

[0013] Acquire a first characteristic of the dynamic obstacle and a second characteristic of the static obstacle;

[0014] Based on the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle, constructing obstacle information within a preset range of the target vehicle;

[0015] The road data and the second feature of the dynamic obstacle are analyzed to obtain the trajectory information of the target vehicle.

[0016] In an optional implementation of the present application, the calculating the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information includes:

[0017] Determining the positional relationship of each obstacle relative to the target vehicle according to the obstacle information;

[0018] Determining an expected driving path of the target vehicle according to the trajectory information of the target vehicle;

[0019] Based on the positional relationship and the expected driving path, an adjustment angle of a rearview mirror on the target vehicle is calculated.

[0020] In an optional implementation of the present application, the calculating the adjustment angle of the rearview mirror on the target vehicle based on the position relationship and the expected driving path includes:

[0021] Determine the blocked area of ​​each obstacle in the field of view of the rearview mirror based on the positional relationship;

[0022] Identifying key nodes in the expected driving path, and determining key areas in the field of view of the rearview mirror based on the key nodes;

[0023] Analyze the key area and the occluded area to obtain a target observation point;

[0024] An adjustment angle of the rearview mirror is calculated according to the target observation point.

[0025] In an optional implementation of the present application, the calculating the adjustment angle of the rearview mirror according to the target observation point includes:

[0026] Obtaining current position parameters and parameter adjustment range of the rearview mirror on the target vehicle;

[0027] Calculating the original offset of the target observation point relative to the center of the rearview mirror field of view according to the current position parameter;

[0028] Determining whether the original offset is within the parameter adjustment range;

[0029] If it is within the parameter adjustment range, the adjustment angle of the rearview mirror is calculated based on the original offset, or, if it is not within the parameter adjustment range, the original offset is adjusted within the parameter adjustment range to obtain a target offset, and the adjustment angle of the rearview mirror is calculated based on the target offset.

[0030] In an optional implementation of the present application, controlling the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position includes:

[0031] Generate a first control instruction and a second control instruction based on the adjustment angle;

[0032] The rearview mirror is controlled to perform an adjustment operation in the horizontal direction according to the first control instruction, and the rearview mirror is controlled to perform an adjustment operation in the vertical direction according to the second control instruction, until the rearview mirror is adjusted to a corresponding position.

[0033] In an optional embodiment of the present application, the method further includes:

[0034] Acquiring the driving status of the target vehicle;

[0035] When the driving state is a first preset state, adjusting the rearview mirror to a reversing angle;

[0036] When the driving state is a second preset state, adjusting the rearview mirror to a driving angle according to the obstacle information and the trajectory information;

[0037] When the driving state is a third preset state, the rearview mirror is adjusted to a parking angle.

[0038] In a second aspect, an embodiment of the present invention provides a control device for a vehicle rearview mirror, the device comprising:

[0039] A calling module is used to call an image acquisition device installed at the rear of a target vehicle to obtain environmental data within a preset range;

[0040] An analysis module, used to analyze the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range;

[0041] A calculation module, used for calculating the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information;

[0042] An execution module is used to control the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

[0043] In a third aspect, an embodiment of the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0044] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0045] The method provided in the embodiment of the present application has the following beneficial effects:

[0046] The method provided in the embodiment of the present application acquires environmental data in real time by calling the image acquisition device at the rear of the target vehicle, and analyzes the characteristics of the road data and dynamic obstacles, so as to provide comprehensive obstacle data, necessary obstacle avoidance information and accurate driving direction data for the adjustment of the rearview mirror. By analyzing the obstacle blocking area and the key area of ​​the driving path in detail, the target observation point is obtained, which provides a clear target for the adjustment of the rearview mirror, ensuring that the adjusted field of view is more in line with the driving needs. On the basis of obtaining the current position parameters and adjustment range of the rearview mirror, the offset of the target observation point relative to the center of the rearview mirror field of view is calculated, and the adjustment is ensured to be carried out within a reasonable range, so as to provide the driver with a clearer and more comprehensive field of view. By optimizing the field of view of the rearview mirror, it helps the driver to better observe the surrounding environment and reduce the risk of traffic accidents caused by poor field of view. The accurate adjustment of the rearview mirror enables the driver to obtain a clearer and more comprehensive field of view, thereby improving the comfort and safety of driving. The rearview mirror angle is automatically adjusted according to the driving state of the target vehicle (such as reversing, driving and parking), which further improves the convenience and safety of driving and provides the driver with a more comfortable and safe driving experience. In summary, the method of the embodiment of the present application realizes the intelligent adjustment and optimization of the rearview mirror by comprehensively applying image processing, data analysis and intelligent control technology, thereby significantly improving driving safety and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 is a flow chart of a method for controlling a vehicle rearview mirror according to some embodiments of the present invention;

[0049] Figure 2 is a schematic diagram of an automatic adjustment function of a vehicle rearview mirror according to an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of a vehicle rearview mirror automatic adjustment technology according to an embodiment of the present invention;

[0051] Figure 4 is a structural block diagram of a control device for a vehicle rearview mirror according to an embodiment of the present invention;

[0052] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0054] According to an embodiment of the present invention, a control method, apparatus, computer device and storage medium for a vehicle rearview mirror are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] In this embodiment, a method for controlling a vehicle rearview mirror is provided. Figure 1 is a flow chart of a method for controlling a vehicle rearview mirror according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0056] Step S11, calling an image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range.

[0057] In the embodiment of the present application, the vehicle camera is installed at the rear of the vehicle (such as above the bumper or on the trunk lid) as an image acquisition device to capture and process image data of the vehicle's surroundings in real time. The preset range covers key areas behind the vehicle, such as lanes, adjacent lanes, and possible intersections. Environmental data includes information such as road conditions, other vehicles, pedestrians, obstacles, etc., which is used for subsequent analysis and processing.

[0058] Step S12, analyzing the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range.

[0059] In the embodiment of the present application, by deeply analyzing the environmental data, obstacle information and vehicle trajectory information are extracted, providing key input for subsequent rearview mirror adjustment. The implementation of this step relies on image processing technology and algorithms, which can process and analyze data from image acquisition devices in real time and accurately.

[0060] In the embodiment of the present application, step S12 includes the following steps A1-A5:

[0061] Step A1, extracting entity data and road data from environmental data.

[0062] Specifically, entity data refers to objects that can be identified and classified in the environment, such as vehicles, pedestrians, traffic signs, etc. Its extraction process mainly uses image processing technology, such as target detection and segmentation algorithms, and deep learning models (such as convolutional neural networks CNN) to identify and classify these entities from environmental data. Road data refers to road structure information in the environment, such as lane lines, road edges, intersections, etc. Its extraction process mainly uses image analysis technology, such as edge detection and shape recognition algorithms, and lane line detection algorithms (such as Hough transform or deep learning-based methods) to identify and extract the position and direction information of lane lines, road boundaries and other road markings from environmental data.

[0063] Step A2: identifying dynamic obstacles and static obstacles within a preset range according to the entity data.

[0064] Specifically, dynamic obstacles refer to objects that move in the environment, such as other vehicles, pedestrians, animals, etc. The positions of these objects will change over time. Static obstacles refer to objects that are relatively stationary in the environment, such as buildings, street lights, road signs, etc. The positions of these objects remain unchanged for a long time. The process may include: First, preprocess the environmental data, such as adjusting the image size, normalization, etc., for better subsequent processing. Secondly, the preprocessed image is subjected to feature extraction through the convolutional layer of CNN to identify the key features in the image. The extracted features are classified using the fully connected layer of CNN to identify dynamic obstacles and static obstacles. The results of object detection are post-processed, such as non-maximum suppression (NMS), to remove duplicate detection frames and obtain the final obstacle information.

[0065] Step A3, obtaining a first characteristic of a dynamic obstacle and a second characteristic of a static obstacle.

[0066] Specifically, the first characteristics of dynamic obstacles may include: speed, direction, acceleration, trajectory prediction, etc. These characteristics can be used to determine the behavior pattern of dynamic obstacles, predict their future positions, and calculate the adjustment angle of rearview mirrors. The second characteristics of static obstacles may include: position, size, shape, etc. These characteristics can be used to determine the occlusion area of ​​static obstacles in the field of view of rearview mirrors and calculate the adjustment angle of rearview mirrors to avoid occlusion.

[0067] Step A4: constructing obstacle information within a preset range of the target vehicle based on the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle.

[0068] Specifically, the characteristics of dynamic obstacles and static obstacles are represented in a specific data structure or format for subsequent processing and use. Obstacle information covers type, position coordinates, velocity vector, size, shape description, etc. All detected obstacle information is integrated into a complete set, which contains detailed information and status of all obstacles within the preset range of the target vehicle. This information needs to be updated in real time as the vehicle moves and the environment changes to ensure its accuracy and real-time performance. The constructed obstacle information will be used for subsequent rearview mirror adjustment angle calculations. By determining the positional relationship of the obstacle relative to the target vehicle, the adjustment angle of the rearview mirror is calculated to provide the driver with a clearer and more appropriate rear view.

[0069] Step A5: Analyze the road data and the second feature of the dynamic obstacle to obtain the trajectory information of the target vehicle.

[0070] Specifically, trajectory information refers to the actual path information of the target vehicle when it is traveling, including the path the vehicle has traveled and the path it is currently traveling. By analyzing road data (such as lane lines, road shape, etc.) and the motion characteristics of dynamic obstacles (such as speed, direction, etc.), image processing and machine learning techniques are used to determine the current target vehicle's driving trajectory. Road data provides information about the path that the vehicle can travel, while the motion characteristics of dynamic obstacles help determine the actual driving conditions of the vehicle on the current road. Trajectory information is mainly used to describe the actual driving status of the vehicle and is the basis for calculating the adjustment angle of the rearview mirror.

[0071] Step S13, calculating the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information.

[0072] In an embodiment of the present application, the process of calculating the adjustment angle of the rearview mirror on the target vehicle based on obstacle information and trajectory information is the core link in the turning follow-up electronic rearview mirror device, which ensures that the rearview mirror can be automatically adjusted according to the actual environment around the vehicle to provide the driver with the best field of view.

[0073] In the embodiment of the present application, step S13 includes the following steps B1-B3:

[0074] Step B1, determining the positional relationship of each obstacle relative to the target vehicle according to the obstacle information.

[0075] Specifically, first, the obstacle information is integrated, which includes but is not limited to the type of obstacle (dynamic or static), position coordinates, size, shape, etc. Then, based on the position coordinates of the obstacles, their positional relationship relative to the target vehicle is calculated. Specifically, coordinate transformation and calculation in three-dimensional space can be used to determine whether the obstacle is located on the left, right, front or rear of the vehicle, as well as the relative distance and angle between them and the target vehicle. For dynamic obstacles, their moving speed and direction also need to be considered to predict their possible position in the future, so as to more accurately determine their positional relationship relative to the target vehicle. Finally, the positional relationship data of each obstacle relative to the target vehicle will be output, which will be used to calculate the rearview mirror adjustment angle.

[0076] Step B2, determining the expected driving path of the target vehicle according to the trajectory information of the target vehicle.

[0077] Specifically, multiple possible driving paths of the target vehicle are predicted by using path planning algorithms (such as Dijkstra, A*, etc.) or machine learning models (such as prediction models based on neural networks), combined with trajectory information, taking into account factors such as traffic rules, road conditions, and dynamic obstacle movement trends. The optimal path is selected as the expected driving path according to optimization criteria (such as shortest time, shortest distance, highest safety, etc.), and path data including information such as starting point, end point, key point coordinates, and direction changes are output. At the same time, driving environment factors such as road conditions (such as congestion, construction areas, etc.), weather conditions (such as bad weather such as rain, snow, fog, etc.) and traffic rules (such as traffic lights, speed limit signs, etc.) can also be considered in the prediction process.

[0078] Step B3, calculating the adjustment angle of the rearview mirror on the target vehicle based on the position relationship and the expected driving path.

[0079] Specifically, based on the specific position of the obstacle relative to the vehicle and the expected path the vehicle is about to travel, the optimal angle at which the rearview mirror needs to be adjusted can be obtained through precise calculation to ensure that the driver can clearly observe the key areas behind and make correct driving decisions. This includes the following situations:

[0080] Case 1: Avoiding obstacles. For example, a stationary obstacle, such as a parked vehicle, is detected on the left side of the rear. The position of the obstacle relative to the vehicle is analyzed to determine its angle (β) in the vehicle coordinate system. At the same time, based on the vehicle's current state and road conditions, it is determined that the vehicle will continue to go straight. In order to ensure that the driver can clearly see the obstacle and make an evasive move, the rearview mirror needs to be adjusted to a certain angle (θ) to the left based on the position of the obstacle and the vehicle's expected driving path.

[0081] Case 2: Lane change. For example, the vehicle is about to change lanes to the right and has identified the target lane for the lane change. At this time, an accelerating overtaking vehicle is detected on the right side of the rear. The position relationship of the overtaking vehicle relative to the vehicle is analyzed, including its distance and speed. At the same time, based on the current state of the vehicle and the road conditions, it is determined that the vehicle will change lanes to the right. In order to ensure that the driver can clearly see the overtaking vehicle and make the correct lane change judgment, the rearview mirror needs to be adjusted to the right by a certain angle (θ) based on the position relationship of the overtaking vehicle and the expected driving path of the vehicle.

[0082] Case 3: Turning and avoiding pedestrians. For example, the vehicle is about to enter a left turn and a pedestrian crossing the road is detected on the left side behind. The position of the pedestrian relative to the vehicle is analyzed to determine its angle (β) in the vehicle coordinate system. At the same time, based on the map information and the current position of the vehicle, it is determined that the vehicle's expected driving path is a left turn. In order to ensure that the driver can clearly see the pedestrian during the turn and make an evasive move, the rearview mirror needs to be adjusted to a certain angle (θ) to the left based on the position of the pedestrian and the vehicle's expected driving path.

[0083] In the embodiment of the present application, step B3 includes the following steps C1-C4:

[0084] Step C1, determining the occlusion area of ​​each obstacle in the field of view of the rearview mirror based on the position relationship.

[0085] Specifically, first, obtain the specific position information of each obstacle relative to the target vehicle, including the distance and azimuth of the obstacle. Secondly, simulate the field of view of the rearview mirror, including its horizontal field of view angle and vertical field of view angle. Thirdly, based on the position information of the obstacle and the field of view of the rearview mirror, calculate the occlusion area of ​​the obstacle in the field of view of the rearview mirror, where the occlusion area can be a point, a line or a surface, depending on the shape and size of the obstacle and its relative position to the rearview mirror. Finally, analyze the degree of influence of the occlusion area on the field of view of the rearview mirror, such as whether the occlusion area contains important road information or traffic signs.

[0086] Step C2, identifying key nodes in the expected driving path, and determining key areas in the field of view of the rearview mirror based on the key nodes.

[0087] Specifically, critical nodes refer to nodes in the expected driving path that are important for driving decisions and driving safety. Critical nodes may include intersections (such as crossroads, T-junctions), entrances and exits of curves, entrances and exits of forks on highways, areas where pedestrians cross the road, special areas near schools or hospitals, and any places where the driver needs to pay special attention or make driving adjustments. Critical areas refer to those areas in the rearview mirror field of view that require special attention from the driver because they contain critical nodes or because of their special properties (such as high accident risk areas, restricted vision areas, etc.). These areas are specific parts of the rearview mirror field of view, and their size and shape will be dynamically adjusted according to the location and nature of the critical nodes, as well as road rules and driving habits.

[0088] Step C3, analyzing the key area and the occluded area to obtain the target observation point.

[0089] Specifically, the target observation point is the point in the rearview mirror that needs to be observed. It should be located in the key area and should not be blocked as much as possible. This point can be determined by geometric analysis or image processing technology. Taking the intersection as an example, if the rearview mirror field of view is partially blocked by a large tree, the target observation point should be the part of the intersection that is not blocked and close to the expected driving path. By calculating the boundary of the blocked area, the point closest to the expected driving path is found as the target observation point. Based on this, the adjustment angle of the rearview mirror can be calculated to provide the driver with the best field of view.

[0090] Step C4, calculating the adjustment angle of the rearview mirror according to the target observation point.

[0091] Specifically, the adjustment angle of the rearview mirror is determined by calculating the offset of the target observation point relative to the center of the rearview mirror field of view and considering the adjustment range of the rearview mirror to achieve the best driving field of view.

[0092] In the embodiment of the present application, step C4 includes the following steps D1-D4:

[0093] Step D1, obtaining the current position parameters and parameter adjustment range of the rearview mirror on the target vehicle.

[0094] Specifically, the current position parameters refer to the position information of the rearview mirror in the current state, which may include the angles or positions in the horizontal and vertical directions. These parameters can be obtained through sensors or encoders on the vehicle, which can provide the current state of the rearview mirror in real time. The current position parameters are the basis for calculating the adjustment angle of the rearview mirror because they provide the current position and posture information of the rearview mirror. The parameter adjustment range refers to the range of angles or positions to which the rearview mirror can be adjusted. This range is set by the vehicle manufacturer to ensure that the rearview mirror does not exceed its physical limitations or cause excessive distortion of the field of view during adjustment. The parameter adjustment range usually includes the maximum and minimum angles or positions in the horizontal and vertical directions.

[0095] Step D2, calculating the original offset of the target observation point relative to the center of the rearview mirror field of view based on the current position parameters.

[0096] It should be noted that the target observation point is a position in the rearview mirror field of view that requires special attention. It can be an obstacle, a road sign or a key point on the driving path. The center of the rearview mirror field of view refers to the geometric center of the rearview mirror field of view, usually the center point of the rearview mirror lens. This point is the reference point when adjusting the rearview mirror. The offset refers to the distance and direction of the target observation point relative to the center of the rearview mirror field of view. This can be obtained by calculating the relative position difference between the two points.

[0097] Specifically, in a two-dimensional coordinate system with the center of the rearview mirror field of view as the origin, the position of the target observation point can be represented and calculated. The position of the target observation point is determined by the horizontal and vertical distance coordinate values ​​relative to the center of the rearview mirror field of view. Based on these coordinate values, the offset of the target observation point relative to the center of the rearview mirror field of view can be calculated, which is a vector containing horizontal and vertical components. When calculating the offset, simple geometric operations such as the Pythagorean theorem or trigonometric functions are used.

[0098] Step D3, determining whether the original offset is within the parameter adjustment range.

[0099] Specifically, in order to ensure that the calculated adjustment angle is actually feasible, that is, the rearview mirror can be adjusted to this angle, it is necessary to determine whether the offset exceeds the parameter adjustment range of the rearview mirror. This range is determined based on the physical characteristics of the rearview mirror (such as motor travel, mechanical structure limitations, etc.), and defines the maximum and minimum angles that the rearview mirror can be adjusted to. If the original offset is within this range, the adjustment angle can be calculated directly; if it exceeds the range, appropriate adjustments need to be made.

[0100] Step D4, if it is within the parameter adjustment range, the adjustment angle of the rearview mirror is calculated according to the original offset, or, if it is not within the parameter adjustment range, the original offset is adjusted within the parameter adjustment range to obtain the target offset, and the adjustment angle of the rearview mirror is calculated according to the target offset.

[0101] As an example, assume that the current position parameters of the rearview mirror (such as horizontal angle and vertical angle) and the parameter adjustment range of the rearview mirror (i.e., the maximum and minimum adjustment angles in the horizontal and vertical directions) have been obtained. If the original offset is within the adjustment range, such as 5 degrees in the horizontal direction and 3 degrees in the vertical direction, the rearview mirror will be adjusted directly to these angles. If the original offset exceeds the adjustment range, such as 10 degrees in the horizontal direction (outside the range of -5 degrees to 5 degrees), it needs to be adjusted to the maximum angle that the rearview mirror can adjust (5 degrees or -5 degrees, depending on the direction of the original offset). Subsequently, the rearview mirror will adjust the horizontal angle according to the adjusted target offset, and the vertical angle (if it is also within the range) will be adjusted according to the original offset or the same adjusted target offset.

[0102] Step S14, controlling the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

[0103] In the embodiment of the present application, two control instructions are first generated according to the previously calculated rearview mirror adjustment angle: the first control instruction is used to control the adjustment of the rearview mirror in the horizontal direction, and the second control instruction is used to control the adjustment of the rearview mirror in the vertical direction. Subsequently, according to the two control instructions, the rearview mirror is controlled to be adjusted in the horizontal and vertical directions respectively until the rearview mirror is adjusted to a preset angle position. In this way, the field of view of the rearview mirror can be optimized according to the current driving environment and the trajectory information of the target vehicle, thereby improving the safety and comfort of driving.

[0104] In the embodiment of the present application, step S14 includes the following steps E1-E2:

[0105] Step E1, generating a first control instruction and a second control instruction based on the adjustment angle.

[0106] Specifically, the adjustment of the rearview mirror involves two directions, horizontal and vertical. Therefore, the calculated adjustment angle needs to be separated into components in these two directions, and two control instructions are generated accordingly: the first instruction guides the rearview mirror to adjust in the horizontal direction, and the second instruction guides it to adjust in the vertical direction. These instructions need to be generated in a format that can be recognized by the rearview mirror control system and transmitted to the system to perform subsequent adjustment operations.

[0107] Step E2, controlling the rearview mirror to perform horizontal adjustment operations according to the first control instruction, and controlling the rearview mirror to perform vertical adjustment operations according to the second control instruction, until the rearview mirror is adjusted to a corresponding position.

[0108] Specifically, the rearview mirror control system receives two instructions (a first control instruction and a second control instruction), which respectively contain the adjustment angles in the horizontal and vertical directions. The rearview mirror control system parses the instructions and prepares to perform adjustments. According to the first instruction, the rearview mirror is driven to adjust horizontally, involving the rotation or movement of the motor or mechanical structure. At the same time or later, according to the second instruction, the rearview mirror is driven to adjust vertically. During the adjustment process, the position and state of the rearview mirror are continuously monitored. When it is adjusted to the specified position, the drive is stopped, and it is confirmed that the rearview mirror has optimized the field of view so that the driver can obtain the best driving field of view.

[0109] As an example, Figure 2 It shows how to automatically adjust the field of view of the rearview mirror (③ and ④) through the camera viewing angle (⑤) to expand the field of view and reduce blind spots when turning (compare ① and ②). Specifically, after analyzing the environmental data captured by the camera, it can be used to identify the trajectory information of the target vehicle and the obstacle information within the preset range, and then calculate the adjustment angle of the rearview mirror and control the rearview mirror to perform the adjustment operation. This example vividly illustrates how to use the image acquisition device at the rear of the vehicle to optimize the field of view of the rearview mirror and improve driving safety.

[0110] In an embodiment of the present application, the method also includes the following steps: obtaining the driving state of the target vehicle; when the driving state is a first preset state, adjusting the rearview mirror to a reversing angle; when the driving state is a second preset state, adjusting the rearview mirror to a driving angle according to obstacle information and trajectory information; when the driving state is a third preset state, adjusting the rearview mirror to a parking angle.

[0111] Specifically, the driving state includes but is not limited to the reversing state, the normal driving state and the parking state. The following are detailed descriptions and examples of these three states:

[0112] When the vehicle is in reverse mode, the rear image acquisition device analyzes environmental data in real time, including obstacle distance and ground conditions. The rearview mirror is automatically adjusted to tilt downward so that the driver can clearly see the ground behind the vehicle and potential obstacles, such as curbs and pebbles. This helps the driver to more accurately judge the reverse distance and angle, improve reverse safety, and avoid collisions or scratches.

[0113] When the driving state is normal, multiple sensors are used to collect and process environmental data in real time, including the position, speed and driving direction of surrounding vehicles. If a large truck is detected approaching quickly on the left, the left rearview mirror angle is automatically adjusted so that the driver can clearly see the position and dynamics of the truck. This helps the driver better judge the relative position and distance with other vehicles and make driving decisions in time, such as slowing down and avoiding, to ensure driving safety and stability.

[0114] When the vehicle is parked, the rearview mirror is tilted slightly outward using the image information of the parking position, including the width of the parking space and the position of surrounding vehicles or obstacles, so that the driver can more easily observe the surrounding environment, especially the side and rear of the vehicle. This helps the driver determine whether there are other vehicles or obstacles approaching, avoids collisions when leaving the vehicle, and increases parking safety.

[0115] The method provided in the embodiment of the present application achieves accurate adjustment of the rearview mirror by generating clear control instructions and accurately controlling the rearview mirror to perform horizontal and vertical adjustment operations. At the same time, the rearview mirror angle is automatically adjusted according to the driving state of the target vehicle, such as adjusting to the corresponding angle when reversing, driving and parking, further improving the convenience and safety of driving and providing the driver with a more comfortable and safe driving experience.

[0116] Figure 3 is a schematic diagram of a vehicle rearview mirror automatic adjustment technology according to an embodiment of the present invention. Figure 3 As shown, the technical principles include:

[0117] First, by calling the image acquisition device installed at the rear of the vehicle, environmental data within a preset range and the steering angle of the vehicle are collected. Subsequently, these data are filtered to eliminate invalid or erroneous information. Next, the environmental data is analyzed using an algorithm to obtain the trajectory information of the target vehicle and the obstacle information within the preset range, and the adjustment angle of the rearview mirror is calculated based on this information. Finally, the actuator controls the rearview mirror to perform the adjustment operation according to the calculated adjustment angle response until the rearview mirror is adjusted to the corresponding position. This flow chart clearly shows the entire process from data acquisition to rearview mirror adjustment, which is closely connected with the step description in the application embodiment.

[0118] In this embodiment, a control device for a vehicle rearview mirror is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0119] This embodiment provides a control device for a vehicle rearview mirror, such as Figure 4 As shown, including:

[0120] The calling module 41 is used to call the image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range;

[0121] An analysis module 42 is used to analyze environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range;

[0122] A calculation module 43, used to calculate the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information;

[0123] The execution module 44 is used to control the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

[0124] In an optional embodiment of the present application, the analysis module 42 is used to extract entity data and road data from environmental data; identify dynamic obstacles and static obstacles within a preset range based on the entity data; obtain a first characteristic of the dynamic obstacle and a second characteristic of the static obstacle; construct obstacle information within a preset range of the target vehicle based on the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle; analyze the road data and the second characteristic of the dynamic obstacle to obtain trajectory information of the target vehicle.

[0125] In an optional embodiment of the present application, the calculation module 43 is used to determine the position relationship of each obstacle relative to the target vehicle based on the obstacle information; determine the expected driving path of the target vehicle based on the trajectory information of the target vehicle; and calculate the adjustment angle of the rearview mirror on the target vehicle based on the position relationship and the expected driving path.

[0126] In an optional embodiment of the present application, the calculation module 43 is used to determine the occlusion area of ​​each obstacle in the field of view of the rearview mirror based on the position relationship; identify the key nodes in the expected driving path, and determine the key area in the field of view of the rearview mirror according to the key nodes; analyze the key area and the occlusion area to obtain the target observation point; and calculate the adjustment angle of the rearview mirror according to the target observation point.

[0127] In an optional embodiment of the present application, the calculation module 43 is used to obtain the current position parameters and parameter adjustment range of the rearview mirror on the target vehicle; calculate the original offset of the target observation point relative to the center of the rearview mirror field of view based on the current position parameters; determine whether the original offset is within the parameter adjustment range; if it is within the parameter adjustment range, calculate the adjustment angle of the rearview mirror based on the original offset, or, if it is not within the parameter adjustment range, adjust the original offset within the parameter adjustment range to obtain the target offset, and calculate the adjustment angle of the rearview mirror based on the target offset.

[0128] In an optional embodiment of the present application, the execution module 44 is used to generate a first control instruction and a second control instruction based on the adjustment angle; control the rearview mirror to perform horizontal adjustment operations according to the first control instruction, and control the rearview mirror to perform vertical adjustment operations according to the second control instruction until the rearview mirror is adjusted to the corresponding position.

[0129] In an optional embodiment of the present application, the device also includes: an adjustment module for obtaining the driving state of the target vehicle; when the driving state is a first preset state, adjusting the rearview mirror to a reversing angle; when the driving state is a second preset state, adjusting the rearview mirror to a driving angle according to obstacle information and trajectory information; when the driving state is a third preset state, adjusting the rearview mirror to a parking angle.

[0130] See also Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0131] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0132] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0133] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0134] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0135] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0136] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling a vehicle rearview mirror, It is characterized in that The method comprises: Calling the image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range; Analyze the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range; Calculating an adjustment angle of a rearview mirror on the target vehicle according to the obstacle information and the trajectory information; The rearview mirror is controlled to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

2. The method according to claim 1, It is characterized in that The analyzing the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range includes: Extracting entity data and road data from the environmental data; Identify dynamic obstacles and static obstacles within a preset range according to the entity data; Acquire a first characteristic of the dynamic obstacle and a second characteristic of the static obstacle; Based on the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle, constructing obstacle information within a preset range of the target vehicle; The road data and the second feature of the dynamic obstacle are analyzed to obtain the trajectory information of the target vehicle.

3. The method according to claim 1, It is characterized in that The step of calculating the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information includes: Determining the positional relationship of each obstacle relative to the target vehicle according to the obstacle information; Determining an expected driving path of the target vehicle according to the trajectory information of the target vehicle; Based on the positional relationship and the expected driving path, an adjustment angle of a rearview mirror on the target vehicle is calculated.

4. The method according to claim 3, It is characterized in that The step of calculating the adjustment angle of the rearview mirror on the target vehicle based on the positional relationship and the expected driving path includes: Determine the blocked area of ​​each obstacle in the field of view of the rearview mirror based on the positional relationship; Identifying key nodes in the expected driving path, and determining key areas in the field of view of the rearview mirror based on the key nodes; Analyze the key area and the occluded area to obtain a target observation point; An adjustment angle of the rearview mirror is calculated according to the target observation point.

5. The method according to claim 4, It is characterized in that The step of calculating the adjustment angle of the rearview mirror according to the target observation point comprises: Obtaining current position parameters and parameter adjustment range of the rearview mirror on the target vehicle; Calculating the original offset of the target observation point relative to the center of the rearview mirror field of view according to the current position parameter; Determining whether the original offset is within the parameter adjustment range; If it is within the parameter adjustment range, the adjustment angle of the rearview mirror is calculated based on the original offset, or, if it is not within the parameter adjustment range, the original offset is adjusted within the parameter adjustment range to obtain a target offset, and the adjustment angle of the rearview mirror is calculated based on the target offset.

6. The method according to claim 1, It is characterized in that The step of controlling the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position includes: Generate a first control instruction and a second control instruction based on the adjustment angle; The rearview mirror is controlled to perform an adjustment operation in the horizontal direction according to the first control instruction, and the rearview mirror is controlled to perform an adjustment operation in the vertical direction according to the second control instruction, until the rearview mirror is adjusted to a corresponding position.

7. The method according to claim 1, It is characterized in that The method further comprises: Acquiring the driving status of the target vehicle; When the driving state is a first preset state, adjusting the rearview mirror to a reversing angle; When the driving state is a second preset state, adjusting the rearview mirror to a driving angle according to the obstacle information and the trajectory information; When the driving state is a third preset state, the rearview mirror is adjusted to a parking angle.

8. A control device for a vehicle rearview mirror, It is characterized in that The device comprises: A calling module is used to call an image acquisition device installed at the rear of a target vehicle to obtain environmental data within a preset range; An analysis module, used to analyze the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range; A calculation module, used for calculating the adjustment angle of the rearview mirror on the target vehicle according to the obstacle information and the trajectory information; An execution module is used to control the rearview mirror to perform an adjustment operation based on the adjustment angle until the rearview mirror is adjusted to a corresponding position.

9. A computer device, It is characterized in that include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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