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

Abstract

The present application relates to the technical field of vehicle, disclose a control method and device for vehicle rearview mirror, computer equipment and storage medium, the method comprises: calling the image acquisition device installed in the rear of target vehicle, obtain the environmental data in the preset range;Analyzing the environmental data, obtain the trajectory information of the target vehicle and the obstacle information in the preset range;According to the obstacle information and the trajectory information, the adjustment angle of the rearview mirror on the target vehicle is calculated;Based on the adjustment angle, the rearview mirror executes adjustment operation until the rearview mirror is adjusted to the corresponding position.The present application solves the problem that the existing vehicle rearview mirror has a visual angle blind area, lacks intelligent recognition ability and cannot adjust the angle in real time.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a control method, device, computer equipment, and storage medium for vehicle rearview mirrors. Background Technology

[0002] In modern car driving, rearview mirrors are a crucial tool for drivers to observe the surrounding environment, and their design and function directly impact driving safety and convenience. However, the fixed design of existing car rearview mirrors has a significant blind spot problem, which is particularly pronounced when turning slowly or changing lanes, increasing the risk of collisions.

[0003] While existing semi-automatic rearview mirror adjustment systems have solved the problem of fixed rearview mirror angles, their effectiveness in practical applications is limited due to a lack of intelligent recognition capabilities and the inability to adjust the mirror angle in real time according to specific driving conditions. Furthermore, although some designs attempt to assist observation by adding in-car displays, this approach actually increases the risk of driver distraction by turning their heads, creating 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 vehicle rearview mirrors, in order to solve the problems of existing vehicle rearview mirrors having blind spots, lacking intelligent recognition capabilities and being unable to adjust the angle in real time.

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

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

[0007] By analyzing the environmental data, the trajectory information of the target vehicle and the obstacle information within a preset range are obtained;

[0008] Based on the obstacle information and the trajectory information, calculate the adjustment angle of the rearview mirror on the target vehicle;

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

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

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

[0012] Based on the entity data, identify dynamic and static obstacles within a preset range;

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

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

[0015] By analyzing the road data and the second feature of the dynamic obstacle, the trajectory information of the target vehicle is obtained.

[0016] In an optional embodiment of this application, calculating the adjustment angle of the rearview mirror on the target vehicle based on the obstacle information and the trajectory information includes:

[0017] Determine the positional relationship of each obstacle relative to the target vehicle based on the obstacle information;

[0018] The expected travel path of the target vehicle is determined based on the trajectory information of the target vehicle;

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

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

[0021] Based on the positional relationship, determine the occlusion area of ​​each obstacle in the rearview mirror's field of view;

[0022] Identify key nodes in the expected driving path, and determine key areas in the rearview mirror's field of view based on the key nodes;

[0023] By analyzing the key areas and the occluded areas, the target observation point is obtained;

[0024] The adjustment angle of the rearview mirror is calculated based on the target observation point.

[0025] In an optional embodiment of this application, calculating the adjustment angle of the rearview mirror based on the target observation point includes:

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

[0027] Based on the current position parameters, calculate the original offset of the target observation point relative to the center of the rearview mirror's field of view;

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

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

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

[0031] Based on the adjusted angle, a first control command and a second control command are generated;

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

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

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

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

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

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

[0038] Secondly, embodiments of the present invention provide a control device for a vehicle rearview mirror, the device comprising:

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

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

[0041] The calculation module is used to calculate the adjustment angle of the rearview mirror on the target vehicle based on 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 the corresponding position.

[0043] Thirdly, embodiments of the present invention provide a computer device, including: 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 computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0044] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0045] The method provided in this application has the following beneficial effects:

[0046] The method provided in this application utilizes an image acquisition device located at the rear of the target vehicle to acquire environmental data in real time and analyze road data and dynamic obstacle characteristics. This provides comprehensive obstacle data, necessary obstacle avoidance information, and accurate driving direction data for rearview mirror adjustment. By analyzing the obstructed areas and key areas of the driving path in detail, a target observation point is obtained, providing a clear target for rearview mirror adjustment and ensuring that the adjusted field of vision better meets driving needs. Based on 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's field of vision is calculated, ensuring that the adjustment is performed within a reasonable range, providing the driver with a clearer and more comprehensive field of vision. Optimizing the rearview mirror's field of vision helps the driver better observe the surrounding environment and reduces the risk of traffic accidents caused by poor visibility. Accurate adjustment of the rearview mirror allows the driver to obtain a clearer and more comprehensive field of vision, thereby improving driving comfort and safety. Automatically adjusting the rearview mirror angle according to the target vehicle's driving status (such as reversing, driving, and parking) further enhances driving convenience and safety, providing the driver with a more comfortable and safer driving experience. In summary, the method of this application embodiment, by comprehensively applying image processing, data analysis and intelligent control technologies, realizes intelligent adjustment and optimization of the rearview mirror, significantly improving driving safety and comfort. Attached Figure Description

[0047] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

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

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

[0052] Figure 5 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0055] This embodiment provides a method for controlling a vehicle rearview mirror. Figure 1 This is a flowchart of a vehicle rearview mirror control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

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

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

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

[0059] In this embodiment, obstacle information and vehicle trajectory information are extracted through in-depth analysis of environmental data, providing crucial input for subsequent rearview mirror adjustments. This step relies on image processing technology and algorithms, enabling real-time and accurate processing and analysis of data from image acquisition devices.

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

[0061] Step A1: Extract entity data and road data from the environmental data.

[0062] Specifically, entity data refers to identifiable and categorizable objects in the environment, such as vehicles, pedestrians, and traffic signs. Its extraction primarily utilizes image processing techniques, such as object detection and segmentation algorithms, as well as deep learning models (such as convolutional neural networks, CNNs) to identify and classify these entities from environmental data. Road data, on the other hand, refers to road structure information in the environment, such as lane lines, road edges, and intersections. Its extraction primarily utilizes image analysis techniques, such as edge detection and shape recognition algorithms, as well as lane line detection algorithms (such as Hough transform or deep learning-based methods) to identify and extract the position and orientation information of lane lines, road boundaries, and other road markings from environmental data.

[0063] Step A2: Identify dynamic and static obstacles within a preset range based on entity data.

[0064] Specifically, dynamic obstacles refer to objects that move in the environment, such as other vehicles, pedestrians, and animals. The positions of these objects change over time. Static obstacles refer to objects that remain relatively stationary in the environment, such as buildings, streetlights, and road signs. The positions of these objects remain unchanged over a longer period. The process may include: First, preprocessing the environmental data, such as resizing and normalizing the images, to better facilitate subsequent processing. Second, extracting features from the preprocessed images using the convolutional layers of a CNN to identify key features. Then, classifying the extracted features using the fully connected layers of the CNN to identify dynamic and static obstacles. Finally, post-processing the object detection results, such as using non-maximum suppression (NMS), to remove duplicate detection boxes and obtain the final obstacle information.

[0065] Step A3: Obtain the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle.

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

[0067] Step A4: Based on the first characteristics of dynamic obstacles and the second characteristics of static obstacles, construct obstacle information within the preset range of the target vehicle.

[0068] Specifically, the characteristics of dynamic and static obstacles are represented using specific data structures or formats for subsequent processing and use. Obstacle information includes type, position coordinates, velocity vector, size, and shape description. All detected obstacle information is integrated into a complete set containing detailed information and status of all obstacles within a 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 timeliness. The constructed obstacle information will be used for subsequent calculation of the rearview mirror adjustment angle. By determining the positional relationship of the obstacles relative to the target vehicle, the adjustment angle of the rearview mirror is calculated to provide the driver with a clearer and more suitable rear view.

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

[0070] Specifically, trajectory information refers to the actual path information of a target vehicle while it is traveling, including the path the vehicle has already traveled and the path it is currently traveling on. 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 trajectory of the target vehicle. Road data provides information on the paths the vehicle can travel on, while the motion characteristics of dynamic obstacles help determine the vehicle's actual driving situation on the current road. Trajectory information is mainly used to describe the vehicle's actual driving state and is the basis for calculating the rearview mirror adjustment angle.

[0071] Step S13: Calculate the adjustment angle of the rearview mirror on the target vehicle based on obstacle information and trajectory information.

[0072] In this embodiment, 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 component of the turning-following electronic rearview mirror device. This ensures that the rearview mirror can automatically adjust according to the actual environment around the vehicle, providing the driver with the best field of vision.

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

[0074] Step B1: Determine the positional relationship of each obstacle relative to the target vehicle based on the obstacle information.

[0075] Specifically, first, obstacle information is integrated, including but not limited to the obstacle's type (dynamic or static), position coordinates, size, and shape. Next, based on the obstacle's position coordinates, its positional relationship relative to the target vehicle is calculated. This can be achieved through coordinate transformation and calculation in three-dimensional space to determine whether the obstacle is located to the left, right, in front, or behind the vehicle, as well as its relative distance and angle to the target vehicle. For dynamic obstacles, their speed and direction of movement are also considered to predict their possible position over a future period, thus more accurately determining their positional relationship relative to the target vehicle. Finally, the positional relationship data of each obstacle relative to the target vehicle is output, and this data will be used to calculate the rearview mirror adjustment angle.

[0076] Step B2: Determine the expected driving path of the target vehicle based on the target vehicle's trajectory information.

[0077] Specifically, using path planning algorithms (such as Dijkstra's algorithm, A*, etc.) or machine learning models (such as neural network-based prediction models), combined with trajectory information, and considering factors such as traffic rules, road conditions, and the movement trends of dynamic obstacles, multiple possible driving paths for the target vehicle are predicted. The optimal path is selected as the expected driving path based on optimization criteria (such as shortest time, shortest distance, highest safety, etc.), and path data including the start point, end point, key point coordinates, and direction changes is output. Simultaneously, the prediction process can also consider driving environment factors such as road conditions (such as congestion, construction areas, etc.), weather conditions (such as rain, snow, fog, etc.), and traffic rules (such as traffic lights, speed limit signs, etc.).

[0078] Step B3: Calculate the adjustment angle of the rearview mirror on the target vehicle based on the positional relationship and the expected driving path.

[0079] Specifically, based on the obstacle's position relative to the vehicle and the vehicle's expected path, precise calculations can determine the optimal angle for adjusting the rearview mirrors. This ensures the driver can clearly observe key areas behind the vehicle, enabling correct driving decisions. This includes the following situations:

[0080] Scenario 1: Obstacle Avoidance. For example, a stationary obstacle, such as a parked vehicle, is detected on the left rear. The positional relationship of this obstacle relative to the vehicle is analyzed, and its angle (β) in the vehicle's coordinate system is determined. Simultaneously, based on the vehicle's current state and road conditions, it is determined that the vehicle will continue traveling straight. To ensure the driver can clearly see the obstacle and take evasive action, the rearview mirror needs to be adjusted to the left by a certain angle (θ) based on the obstacle's positional relationship and the vehicle's expected travel path.

[0081] Scenario 2: Lane Change. For example, the vehicle is about to change lanes to the right, and the target lane has been identified. At this time, an overtaking vehicle accelerating is detected on the right rear. The positional relationship of this overtaking vehicle relative to the vehicle is analyzed, including its distance and speed. Simultaneously, based on the vehicle's current state and road conditions, it is determined that the vehicle will change lanes to the right. To ensure the driver can clearly see the overtaking vehicle and make the correct lane change decision, the rearview mirror needs to be adjusted to the right by a certain angle (θ) based on the overtaking vehicle's positional relationship and the vehicle's expected travel path.

[0082] Scenario 3: Turning and Pedestrian Avoidance. For example, a vehicle is about to enter a left-turn lane and a pedestrian is detected crossing the road on the left rear. Analyze the pedestrian's position relative to the vehicle to determine its angle (β) in the vehicle's coordinate system. Simultaneously, based on map information and the vehicle's current position, determine that the vehicle's expected path is a left turn. To ensure the driver can clearly see the pedestrian and take evasive action during the turn, calculate the required leftward adjustment angle (θ) of the rearview mirror based on the pedestrian's position and the vehicle's expected path.

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

[0084] Step C1: Determine the occlusion area of ​​each obstacle within the rearview mirror's field of view based on their positional relationship.

[0085] Specifically, first, the system acquires the precise positional information of each obstacle relative to the target vehicle, including the obstacle's distance and azimuth. Second, it simulates the rearview mirror's field of view, including its horizontal and vertical angles. Third, based on the obstacle's positional information and the rearview mirror's field of view, it calculates the obstruction area of ​​the obstacle within the mirror's view. This obstruction area can be a point, a line, or a surface, depending on the obstacle's shape, size, and relative position to the mirror. Finally, it analyzes the degree of impact of the obstruction area on the rearview mirror's field of view, such as whether the obstruction area contains important road information or traffic signs.

[0086] Step C2: Identify key nodes in the expected driving path and determine key areas in the rearview mirror's field of view based on the key nodes.

[0087] Specifically, critical nodes refer to points in the expected driving path that are important for driving decisions and road safety. Critical nodes can include intersections (such as crossroads and T-junctions), curve exits and exits, highway junctions, areas where pedestrians cross the road, special areas near schools or hospitals, and any places requiring special attention or driving adjustments from the driver. Critical areas, on the other hand, refer to those areas in the rearview mirror's field of vision that require extra attention from the driver due to the presence of critical nodes or their special characteristics (such as high-accident-risk areas or areas with limited visibility). These areas are specific portions of the rearview mirror's field of vision, and their size and shape dynamically adjust based on the location and nature of the critical nodes, as well as road rules and driving habits.

[0088] Step C3: Analyze the key areas and occluded areas to obtain the target observation point.

[0089] Specifically, the target observation point is the key point to observe in the rearview mirror, located in a critical area and as unobstructed as possible. This point can be determined through geometric analysis or image processing techniques. Taking an intersection as an example, if the rearview mirror's view is partially obstructed by a large tree, the target observation point should be the unobstructed portion of the intersection that is close to the expected driving path. By calculating the boundary of the obstructed 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 optimal field of vision.

[0090] Step C4: Calculate the adjustment angle of the rearview mirror based on 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's field of vision and taking into account the adjustment range of the rearview mirror, so as to achieve the best driving visibility.

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

[0093] Step D1: Obtain 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 its current state, which can include the angle or position in the horizontal and vertical directions. These parameters can be acquired by sensors or encoders on the vehicle, providing real-time information about the current state of the rearview mirror. The current position parameters are the basis for calculating the rearview mirror adjustment angle, as they provide information about the mirror's current position and orientation. The parameter adjustment range refers to the range of angles or positions that the rearview mirror can be adjusted to. 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 vision during adjustment. The parameter adjustment range typically includes the maximum and minimum angles or positions in the horizontal and vertical directions.

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

[0096] It's important to note that the target observation point is the location within the rearview mirror's field of view that requires special attention; it could be an obstacle, a road sign, or a key point on the driving path. The center of the rearview mirror's field of view refers to its geometric center, usually the center point of the mirror lens. This point serves as a reference point for 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's field of view. This can be obtained by calculating the relative positional difference between the two points.

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

[0098] Step D3: Determine whether the original offset is within the parameter adjustment range.

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

[0100] Step D4: If the parameter is within the adjustment range, calculate the adjustment angle of the rearview mirror based on the original offset; or, if it is not within the adjustment range, adjust the original offset within the adjustment range to obtain the target offset, and calculate the adjustment angle of the rearview mirror based on the target offset.

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

[0102] Step S14: Based on the adjustment angle, control the rearview mirror to perform an adjustment operation until the rearview mirror is adjusted to the corresponding position.

[0103] In this embodiment, two control commands are first generated based on the previously calculated rearview mirror adjustment angle: a first control command controls the horizontal adjustment of the rearview mirror, and a second control command controls the vertical adjustment of the rearview mirror. Subsequently, based on these two control commands, the rearview mirror is adjusted horizontally and vertically until it reaches a preset angle position. In this way, the rearview mirror's field of vision can be optimized based on the current driving environment and the trajectory information of the target vehicle, improving driving safety and comfort.

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

[0105] Step E1: Generate a first control command and a second control command based on the adjusted angle.

[0106] Specifically, rearview mirror adjustment involves both horizontal and vertical directions. Therefore, the calculated adjustment angle needs to be separated into components in these two directions, and two control commands need to be generated accordingly: the first command instructs the rearview mirror to adjust in the horizontal direction, and the second command instructs it to adjust in the vertical direction. These commands need to be generated in a format that the rearview mirror control system can recognize and transmitted to the system to execute subsequent adjustment operations.

[0107] Step E2: According to the first control command, control the rearview mirror to perform a horizontal adjustment operation, and according to the second control command, control the rearview mirror to perform a vertical adjustment operation, until the rearview mirror is adjusted to the corresponding position.

[0108] Specifically, the rearview mirror control system receives two commands (a first control command and a second control command), containing adjustment angles in the horizontal and vertical directions, respectively. The rearview mirror control system parses the commands and prepares to execute the adjustments. Based on the first command, it drives the rearview mirror to adjust horizontally, involving the rotation or movement of a motor or mechanical structure. Simultaneously or shortly thereafter, based on the second command, it drives the rearview mirror to adjust vertically. During the adjustment process, the position and status of the rearview mirror are continuously monitored. When the mirror reaches the designated position, the driving action stops, and it is confirmed that the rearview mirror has optimized the field of vision to provide the driver with the best driving visibility.

[0109] As an example, Figure 2 This demonstrates how the field of view of the rearview mirrors (③ and ④) can be automatically adjusted based on the camera's field of view (⑤) to expand the field of view and reduce blind spots when turning (compare ① and ②). Specifically, the environmental data captured by the camera is analyzed to identify the trajectory information of the target vehicle and obstacle information within a preset range, thereby calculating the adjustment angle of the rearview mirror and controlling the mirror to perform the adjustment operation. This example vividly illustrates how to use image acquisition equipment at the rear of the vehicle to optimize the field of view of the rearview mirror and improve driving safety.

[0110] In this embodiment of the application, the method further 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 the reversing angle; when the driving state is a second preset state, adjusting the rearview mirror to the driving angle according to obstacle information and trajectory information; and when the driving state is a third preset state, adjusting the rearview mirror to the parking angle.

[0111] Specifically, driving states include, but are not limited to, reversing, normal driving, and parking. The following are detailed explanations and examples for these three states:

[0112] When the vehicle is in reverse, the system analyzes environmental data in real time based on rear image acquisition equipment, including obstacle distances and ground conditions. It automatically adjusts the rearview mirrors to tilt downwards, allowing the driver to clearly see the ground and potential obstacles behind the vehicle, such as curbs and small stones. This helps the driver more accurately judge reversing distances and angles, improving reversing safety and avoiding collisions or scratches.

[0113] When driving under normal conditions, multiple sensors collect and process environmental data in real time, including the position, speed, and direction of surrounding vehicles. If a large truck is detected rapidly approaching from the left, the left rearview mirror angle is automatically adjusted to allow the driver to clearly see the truck's position and movement. This helps the driver better judge the relative position and distance to other vehicles, enabling timely driving decisions such as slowing down or avoiding collisions, thus ensuring driving safety and stability.

[0114] When the vehicle is in a parked state, the rearview mirror angle is adjusted to tilt slightly outward using image information from the parking space. This information includes the width of the parking space and the position of surrounding vehicles or obstacles, allowing the driver to better observe the surrounding environment, especially the sides and rear of the vehicle. This helps the driver determine if other vehicles or obstacles are approaching, avoiding collisions when leaving the vehicle and increasing parking safety.

[0115] The method provided in this application generates explicit control commands and precisely controls the rearview mirrors to perform horizontal and vertical adjustments, achieving accurate rearview mirror adjustment. Simultaneously, it automatically adjusts the rearview mirror angle according to the target vehicle's driving status, such as adjusting to the corresponding angles when reversing, driving, and parking, further improving driving convenience and safety, and providing the driver with a more comfortable and safer driving experience.

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

[0117] First, an image acquisition device installed at the rear of the vehicle collects environmental data and the vehicle's steering angle within a preset range. Then, this data is filtered to remove invalid or erroneous information. Next, an algorithm analyzes the environmental data to obtain the target vehicle's trajectory information and obstacle information within the preset range, and calculates the adjustment angle of the rearview mirror based on this information. Finally, the actuator responds to the calculated adjustment angle and controls the rearview mirror to perform the adjustment operation until the rearview mirror is adjusted to the appropriate position. This flowchart clearly illustrates the entire process from data acquisition to rearview mirror adjustment and is closely linked to the steps described in the application embodiment.

[0118] This embodiment also provides a vehicle rearview mirror control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

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

[0120] Module 41 is used to invoke the image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range.

[0121] 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] The calculation module 43 is used to calculate the adjustment angle of the rearview mirror on the target vehicle based on obstacle information and trajectory information.

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

[0124] In an optional embodiment of this 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 the first characteristic of the dynamic obstacle and the 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; and analyze the road data and the second characteristic of the dynamic obstacle to obtain the trajectory information of the target vehicle.

[0125] In an optional embodiment of this application, the calculation module 43 is used to determine the positional relationship of each obstacle relative to the target vehicle based on 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 positional relationship and the expected driving path.

[0126] In an optional embodiment of this 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 positional relationship; identify key nodes in the expected driving path, and determine key areas in the field of view of the rearview mirror based on the key nodes; analyze the key areas and occlusion areas to obtain the target observation point; and calculate the adjustment angle of the rearview mirror based on the target observation point.

[0127] In an optional embodiment of this 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's 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 this application, the execution module 44 is used to generate a first control command and a second control command based on the adjustment angle; according to the first control command, it controls the rearview mirror to perform a horizontal adjustment operation, and according to the second control command, it controls the rearview mirror to perform a vertical adjustment operation, until the rearview mirror is adjusted to the corresponding position.

[0129] In an optional embodiment of this application, the device further includes: an adjustment module, configured to acquire the driving state of the target vehicle; adjust the rearview mirror to a reversing angle when the driving state is a first preset state; adjust the rearview mirror to a driving angle based on obstacle information and trajectory information when the driving state is a second preset state; and adjust the rearview mirror to a parking angle when the driving state is a third preset state.

[0130] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0131] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0132] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0133] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0135] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0136] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

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

Claims

1. A method for controlling a vehicle rearview mirror, characterized in that, The method includes: The image acquisition device installed at the rear of the target vehicle is invoked to obtain environmental data within a preset range; By analyzing the environmental data, the trajectory information of the target vehicle and the obstacle information within a preset range are obtained; Based on the obstacle information and the trajectory information, calculate the adjustment angle of the rearview mirror on the target vehicle; Based on the adjustment angle, the rearview mirror is controlled to perform an adjustment operation until the rearview mirror is adjusted to the corresponding position; The step of calculating the adjustment angle of the rearview mirror on the target vehicle based on the obstacle information and the trajectory information includes: determining the positional relationship of each obstacle relative to the target vehicle based on the obstacle information; determining the expected driving path of the target vehicle based on the trajectory information of the target vehicle; and calculating the adjustment angle of the rearview mirror on the target vehicle based on the positional relationship and the expected driving path. 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: determining the occlusion 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; analyzing the key areas and the occlusion areas to obtain the target observation point; and calculating the adjustment angle of the rearview mirror based on the target observation point.

2. The method according to claim 1, characterized in that, The analysis of the environmental data to obtain the trajectory information of the target vehicle and obstacle information within a preset range includes: Extract entity data and road data from the environmental data; Based on the entity data, identify dynamic and static obstacles within a preset range; Obtain the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle; Based on the first characteristic of the dynamic obstacle and the second characteristic of the static obstacle, obstacle information within a preset range of the target vehicle is constructed; By analyzing the road data and the second feature of the dynamic obstacle, the trajectory information of the target vehicle is obtained.

3. The method according to claim 1, characterized in that, The step of calculating the adjustment angle of the rearview mirror based on the target observation point includes: Obtain the current position parameters and parameter adjustment range of the rearview mirror on the target vehicle; Based on the current position parameters, calculate the original offset of the target observation point relative to the center of the rearview mirror's field of view; Determine whether the original offset is within the parameter adjustment range; If the parameter is within the adjustment range, the adjustment angle of the rearview mirror is calculated based on the original offset. Alternatively, if the parameter is not within the adjustment range, the original offset is adjusted within the adjustment range to obtain the target offset, and the adjustment angle of the rearview mirror is calculated based on the target offset.

4. The method according to claim 1, 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 the corresponding position includes: Based on the adjusted angle, a first control command and a second control command are generated; The rearview mirror is controlled to perform a horizontal adjustment operation according to the first control command, and to perform a vertical adjustment operation according to the second control command, until the rearview mirror is adjusted to the corresponding position.

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

6. A control device for a vehicle rearview mirror, characterized in that, The device includes: The calling module is used to call the image acquisition device installed at the rear of the target vehicle to obtain environmental data within a preset range; The analysis module is used to analyze the environmental data to obtain the trajectory information of the target vehicle and the obstacle information within a preset range; The calculation module is used to calculate the adjustment angle of the rearview mirror on the target vehicle based on the obstacle information and the trajectory information; The 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 the corresponding position; The calculation module is used to determine the positional 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 positional relationship and the expected driving path. The calculation module is used to determine the occlusion area of ​​each obstacle in the rearview mirror's field of view based on the positional relationship; identify key nodes in the expected driving path and determine key areas in the rearview mirror's field of view based on the key nodes; analyze the key areas and the occlusion areas to obtain the target observation point; and calculate the adjustment angle of the rearview mirror based on the target observation point.

7. A computer device, characterized in that, include: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 5.

Images