Reversing rearview mirror control method, device and equipment and storage medium

Abstract

The invention discloses a control method, device and equipment for a reversing rearview mirror and a storage medium, and relates to the technical field of vehicle electronic control, and the control method for the reversing rearview mirror comprises the steps that a target compensation value and an initial position of the rearview mirror are obtained; when the gear of the vehicle is changed into a reverse gear and the duration is longer than a first preset duration, calculating a first to-be-moved stroke according to the initial position and a preset rearview mirror illumination position; and controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror illumination position and the first to-be-moved stroke. The rearview mirror can be accurately controlled to illuminate the ground, it is ensured that the rearview mirror can provide a clear view during reversing, the reversing safety is remarkably improved, and meanwhile the stability and reliability of the system are improved by compensating deviation and optimizing adjustment precision.

Description

Technical Field

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

[0002] With the rapid growth of the automobile market, the environment in which vehicles are used is becoming increasingly crowded. Especially when reversing in a narrow space, drivers face greater safety risks. In this case, the automatic ground illumination function of the reversing rearview mirror becomes particularly important. This function can provide the driver with a wider field of view when reversing, enhance the control of the wheel position, and thus improve driving safety. In the absence of a 360-degree panoramic imaging system, the reversing rearview mirror can effectively assist the driver to avoid collisions and scratches.

[0003] At present, there are two main technical solutions on the market to achieve the automatic ground illumination function of the rearview mirror during reversing. One method is to ensure the accuracy of the mirror position by controlling the movement time of the rearview mirror motor. The other method is to characterize the position of the rearview mirror through a voltage signal. Although these solutions have their own advantages and disadvantages, they all attempt to solve the problem of accurate control of the rearview mirror during reversing to varying degrees.

[0004] The first method, i.e. control based on motor movement time, may cause deviations in long-distance precise control due to uneven motor characteristics (such as non-uniform speed motors). In addition, the voltage signal method can theoretically achieve higher accuracy, but in practical applications, the real-time requirements for position feedback are very high, and there are strict requirements on chip sampling time. As the number of reversing increases, the accumulated error will gradually affect the return accuracy of the rearview mirror, causing the control effect to gradually decrease. Therefore, the existing approach cannot effectively eliminate these errors, thereby affecting the accuracy and reliability of the rearview mirror after multiple adjustments. Therefore, how to accurately control the rearview mirror to illuminate the ground has become an urgent problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The purpose of the present application is to provide a control method, device, equipment and storage medium for a reversing rearview mirror, aiming to solve the technical problem of how to accurately control the rearview mirror to illuminate the ground.

[0007] To achieve the above object, the present application proposes a method for controlling a rearview mirror, the method comprising:

[0008] Obtain the target compensation value and initial position of the rearview mirror;

[0009] When the gear position of the vehicle is changed to the reverse gear and the duration is greater than a first preset time length, a first travel range to be moved is calculated according to the initial position and the preset rearview mirror ground position;

[0010] The rearview mirror is controlled to illuminate the ground according to the target compensation value, the preset rearview mirror ground-illuminating position and the first to-be-moved stroke.

[0011] In one embodiment, the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke includes:

[0012] When the first to-be-moved stroke is less than or equal to the target compensation value, obtaining a target compensation time;

[0013] Calculate a first waiting time for movement according to the target compensation value, the target compensation time and the first waiting travel distance;

[0014] The rearview mirror motor is driven according to the first waiting time so that the rearview mirror illuminates the ground.

[0015] In one embodiment, the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke includes:

[0016] When the first to-be-moved stroke is greater than the target compensation value, the rearview mirror motor is controlled to move according to the preset rearview mirror ground position, and a first feedback position is acquired in real time;

[0017] When the distance between the first feedback position and the preset rearview mirror ground-illuminating position is less than or equal to the target compensation value, the rearview mirror motor is controlled to stop moving.

[0018] In one embodiment, after the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke, the method further includes:

[0019] When the gear position of the vehicle changes from the reverse gear to the non-reverse gear, the rearview mirror is controlled to return to the initial position according to the target compensation value, the target compensation time and the initial position.

[0020] In one embodiment, when the gear position of the vehicle changes from the reverse gear to the non-reverse gear, the step of controlling the rearview mirror to return to the initial position according to the target compensation value, the target compensation time and the initial position comprises:

[0021] When the gear position of the vehicle changes from the reverse gear to the non-reverse gear, obtaining a second feedback position of the rearview mirror;

[0022] Calculate a second travel distance to be moved according to the second feedback position and the initial position;

[0023] When the second waiting movement distance is less than or equal to the target compensation value, a second waiting movement time is calculated according to the target compensation value, the target compensation time and the second waiting movement distance, and a rearview mirror motor is driven according to the second waiting movement time to return the rearview mirror to the initial position;

[0024] When the second to-be-moved stroke is greater than the target compensation value, controlling the movement of the rearview mirror motor according to the initial position, and acquiring a third feedback position in real time;

[0025] When the distance between the third feedback position and the initial position is less than or equal to the target compensation value, the rearview mirror motor is controlled to stop moving.

[0026] In one embodiment, the step of obtaining a target compensation value of a rearview mirror comprises:

[0027] When the output state of the rearview mirror motor changes from normal output to stop output, a first position feedback signal value is read and obtained, and a second position feedback signal value is read and obtained after waiting for a second preset time period;

[0028] taking the difference between the first position feedback signal value and the second position feedback signal value as an initial compensation value;

[0029] An average value is calculated according to the initial compensation value to obtain a target compensation value.

[0030] In one embodiment, the step of obtaining the initial position of the rearview mirror includes:

[0031] obtaining a fourth feedback position of the rearview mirror;

[0032] When no manual adjustment instruction and memory position call instruction are received, the fourth feedback position is used as the initial position of the rearview mirror;

[0033] When a manual adjustment instruction or a memory position call instruction is received, the rearview mirror motor is controlled according to the manual adjustment instruction or the memory position call instruction, and a fifth feedback position of the rearview mirror is obtained after the rearview mirror motor stops outputting for a third preset time period;

[0034] An initial position of the rearview mirror is obtained according to the fifth feedback position and the target compensation value, and the initial position is stored.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a control device for a rearview mirror, the device comprising:

[0036] A data acquisition module, used to obtain a target compensation value and an initial position of the rearview mirror;

[0037] A data processing module, configured to calculate a first travel range to be moved according to the initial position and a preset rearview mirror ground position when the vehicle gear position is changed to a reverse gear and the duration is greater than a first preset time length;

[0038] A control module is used to control the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a control device for a reversing rearview mirror, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the reversing rearview mirror as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the control method of the reversing rearview mirror as described above are implemented.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] Obtain the target compensation value and initial position of the rearview mirror; when the vehicle gear is changed to reverse gear and the duration is greater than the first preset time, calculate the first travel to be moved according to the initial position and the preset rearview mirror ground position; control the rearview mirror ground according to the target compensation value, the preset rearview mirror ground position and the first travel to be moved. First, obtaining the target compensation value and initial position of the rearview mirror provides the system with an adjustment benchmark and correction parameters. The target compensation value is used to correct the deviation caused by possible motor characteristics or measurement errors, while the initial position is the position of the rearview mirror when the vehicle is driving normally, providing a reference for subsequent adjustments. Then, when the vehicle gear is switched to reverse gear and the maintenance time exceeds the first preset time, the system calculates the first travel to be moved according to the initial position and the preset rearview mirror ground position, that is, the actual distance the rearview mirror needs to move. This step ensures that the system can accurately calculate the required adjustment amount in the reverse state so that the rearview mirror can accurately reach the preset ground position. Finally, the system controls the rearview mirror to illuminate the ground according to the target compensation value, the preset ground illumination position and the first movement stroke. If the first movement stroke is greater than the target compensation value, the system drives the motor until the distance between the feedback position and the preset ground illumination position is less than or equal to the target compensation value, thereby achieving precise adjustment. The present application can accurately control the rearview mirror to illuminate the ground, ensuring that the rearview mirror can provide a clear field of view when reversing, significantly improving the safety of reversing, and at the same time improving the stability and reliability of the system by compensating for deviations and optimizing adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A flowchart diagram of a first embodiment of a method for controlling a rearview mirror of the present application;

[0046] Figure 2 A schematic diagram of the motor control principle provided in Embodiment 1 of the control method for a rearview mirror of the present application;

[0047] Figure 3 A schematic diagram of a position feedback signal curve provided in Example 1 of the control method for a rearview mirror of the present application;

[0048] Figure 4A schematic diagram of the motor operating position provided in Embodiment 1 of the control method for a rearview mirror of the present application;

[0049] Figure 5 A schematic diagram of a rearview mirror ground illumination control process provided in Embodiment 1 of the control method for a rearview mirror of the present application;

[0050] Figure 6 A flowchart diagram of a second embodiment of a method for controlling a rearview mirror of the present application;

[0051] Figure 7 A schematic diagram of a rearview mirror return control process provided in Embodiment 2 of the control method for a rearview mirror of the present application;

[0052] Figure 8 This is a schematic diagram of the module structure of the control device for the rearview mirror according to an embodiment of the present application;

[0053] Fig. 9 Schematic diagram of the device structure of the hardware operating environment involved in the control method of the reversing rearview mirror in the embodiment of the present application.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] With the rapid development of the automobile market, the use environment of vehicles has become increasingly crowded, especially when reversing in a small space, drivers face greater safety hazards. In this case, the automatic ground illumination function of the reversing rearview mirror is particularly important. It can provide a wider field of view when reversing, enhance the control of the wheel position, and thus improve driving safety. There are two main technical solutions on the market to achieve this function: one is to ensure the accuracy of the mirror position by controlling the movement time of the rearview mirror motor; the other is to characterize the position of the rearview mirror by a voltage signal. Although these solutions have their own advantages and disadvantages, they all attempt to solve the problem of precise control of the rearview mirror during reversing. However, the existing technology cannot completely eliminate errors, affecting the accuracy and reliability of the rearview mirror after multiple adjustments. For example, the control based on the motor movement time may cause deviations in long-distance precise control due to uneven motor characteristics. Although the voltage signal method has higher accuracy in theory, it has high real-time requirements for position feedback in practical applications and strict requirements for chip sampling time. The accumulated error will affect the return accuracy of the rearview mirror, causing the control effect to gradually decrease.

[0058] The main solution of the embodiment of the present application is to set the adjustment benchmark by obtaining the initial position of the rearview mirror and the target compensation value. When the vehicle is in reverse gear and kept in reverse for a certain period of time, the distance that the rearview mirror needs to move is calculated to adjust to the preset ground position. Subsequently, the system controls the rearview mirror in combination with the compensation value and the travel to be moved to ensure that it is accurately adjusted to the target position. If the travel is greater than the compensation value, the motor will continue to drive until the accuracy requirement is met.

[0059] It should be noted that the execution subject of the embodiment of the present application may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle-mounted system, a rearview mirror control system, a rearview mirror motor control system, a motor control unit, etc. The following takes the rearview mirror control system as an example to illustrate this embodiment and the following embodiments.

[0060] Based on this, the embodiment of the present application provides a control method for a rearview mirror, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a method for controlling a rearview mirror of the present application.

[0061] In this embodiment, the control method of the rearview mirror includes steps S10 to S30:

[0062] Step S10, obtaining a target compensation value and an initial position of the rearview mirror;

[0063] It should be noted that the rearview mirror refers to the reversing rearview mirror on the car, that is, a mirror used to help the driver view the situation behind the vehicle during the reversing process. In this embodiment, the adjustment of the rearview mirror not only involves the conventional horizontal and vertical angle adjustment, but also includes the adjustment of the mirror angle to achieve the ground illumination function. The target compensation value refers to the adjustment value calculated to compensate for various errors (such as nonlinearity, delay, etc. in the motor movement) when controlling the position of the rearview mirror. The target compensation value is used to adjust the accuracy of the motor control when the rearview mirror moves from one position to another, so as to ensure that the mirror can accurately reach the set target position. This compensation value is determined based on the actual motor movement and the measurement results of the position feedback signal. The initial position refers to the default position or reference position of the rearview mirror in the normal driving state before the automatic ground illumination function of the reversing rearview mirror is performed. This is the position of the rearview mirror when no automatic adjustment is performed. After reversing, the rearview mirror needs to be adjusted from this initial position to the target position (ground illumination state), and after reversing, it returns to the initial position from the target position.

[0064] It is understandable that first, when the rearview mirror is in a normal driving state, its initial position needs to be recorded, that is, the default position when no reversing-related adjustments are made. Then, when the vehicle enters the reversing state, the rearview mirror will be adjusted to a new position to achieve the ground lighting function. At this time, the new position of the rearview mirror needs to be recorded as the target position. Next, by measuring the actual movement and position feedback of the motor during the adjustment of the rearview mirror, a target compensation value is calculated. This value is used to compensate for errors in the movement (such as motor unevenness or delay). Finally, the compensation value is used to adjust the motor control to ensure that the rearview mirror can be accurately adjusted to the target position and accurately return to the recorded initial position after reversing. The purpose of this is to ensure that the rearview mirror maintains high precision and stability during multiple adjustments.

[0065] Please refer to Figure 2 , Figure 2 The motor control principle diagram provided for the control method embodiment 1 of the reversing rearview mirror of the present application shows a motor drive system for precise control of a car rearview mirror, including a motor control unit (MCU), a positive motor drive voltage (Motor+), a negative motor drive voltage (Motor-), and a position sensor feedback input (Sensor5V+). In this system, the MCU is responsible for receiving instructions from the vehicle gear signal and the driver's operation, and accurately calculates the distance and time that the motor should move based on these instructions and the pre-set control strategy. Motor+ and Motor- are the driving power supplies of the motor, which provide the necessary voltage for the motor to drive the rearview mirror to the predetermined position. The position sensor (Sensor5V+) is responsible for real-time monitoring of the position of the rearview mirror, and converting it into a voltage signal to feed back to the MCU, so that the system can adjust according to the difference between the feedback position and the target position (the feedback position is not necessarily the same as the actual position, especially when the motor is moving or the state changes). Through this precise control strategy, the system can automatically adjust the rearview mirror to a ground-lighting position when the vehicle is reversing, and then accurately return the rearview mirror to its original position after reversing is completed, thereby improving the safety and convenience of the car when reversing in a narrow space.

[0066] As an example, the step of obtaining the target compensation value of the rearview mirror includes: when the output state of the rearview mirror motor changes from normal output to stop output, reading a first position feedback signal value, and reading a second position feedback signal value after waiting for a second preset time; using the difference between the first position feedback signal value and the second position feedback signal value as an initial compensation value; calculating an average value based on the initial compensation value to obtain a target compensation value.

[0067] The mirror motor is an electric device that is usually installed in the rearview mirror system of the car to accurately adjust the position of the rearview mirror. The motor helps the driver get a better view by changing the angle of the mirror. It can be a DC motor or a stepper motor, controlling the horizontal and vertical movement of the rearview mirror. The output state refers to the state of the motor at different working stages. It mainly includes whether the motor is running and the mode of operation. The output state helps to determine whether the motor is performing an adjustment task or has stopped. Normal output is the state of the motor when it is operating normally. Specifically, the motor receives a control signal and operates according to this signal, applying an appropriate current or voltage to the rearview mirror to drive it to the predetermined position. In this state, the output of the motor is stable and the rearview mirror adjusts its position as planned. Stop output is the state of the motor when it is no longer powered. In this case, the motor stops supplying power and no longer drives the rearview mirror to move. The rearview mirror remains in its current position. This usually occurs after the motor completes the adjustment task or when static position measurement is required. The first position feedback signal value refers to the position feedback signal value of the rearview mirror read for the first time after the motor state switches from normal output to stop output. This signal value is obtained by the position sensor and reflects the current position of the rearview mirror after the motor stops. This value is used as the preliminary position data in the static state. The second preset duration refers to the preset waiting time to ensure the stability of the rearview mirror position after reading the first position feedback signal value. This period of time allows the rearview mirror to be static for a long enough time so that the position feedback signal value will not be unstable due to the instantaneous change when the motor just stops. Usually, this duration is set according to the characteristics of the motor and the sensor, and is 1 second in this embodiment. The second position feedback signal value refers to the position feedback signal value of the rearview mirror read again after the second preset duration. This signal value reflects the stable position of the rearview mirror after the motor stops completely. The second reading is used to confirm the position of the rearview mirror in the static state and provide more accurate position data. The initial compensation value is a value obtained by calculating the difference between the first position feedback signal value and the second position feedback signal value. This difference represents the change of the position feedback signal after the motor stops, and is used to detect and compensate for the static position deviation caused by the motor characteristics or sensor error. The target compensation value is the result of averaging multiple initial compensation values. The target compensation value is used to correct the position error during the rearview mirror adjustment process to improve the accuracy of the adjustment. By averaging multiple measurement results, accidental errors can be eliminated to make the compensation more stable and reliable.

[0068] First, when the rearview mirror motor switches from the normal output state (i.e., driving the rearview mirror to move) to the stop output state (i.e., the motor no longer provides power), the first position feedback signal value of the rearview mirror is immediately recorded. This initial measurement reflects the position of the rearview mirror when it just stops. Next, wait for a preset time (the second preset duration) to ensure that the position of the rearview mirror is stable in the stationary state, and then record the second position feedback signal value of the rearview mirror again. The difference between the first and second position feedback signal values ​​is calculated as the initial compensation value, which reflects the position deviation in the stopped state. Finally, the target compensation value is obtained by averaging the initial compensation values ​​measured multiple times. This value is used to correct the error in the motor adjustment process to ensure that the rearview mirror can accurately reach the target position and remain stable.

[0069] Please refer to Figure 3 , Figure 3 The position feedback signal curve diagram provided for the control method embodiment 1 of the reversing rearview mirror of the present application shows the real-time monitoring of the position feedback signal of the automobile rearview mirror and the acquisition process of the real position. In the figure, the horizontal axis represents time and the vertical axis represents the position value of the rearview mirror. The curve represents the voltage signal AD value fed back by the position sensor of the rearview mirror in motion or static state, and these values ​​fluctuate with time. When the rearview mirror is static, the voltage signal fed back by it will jump within a certain range instead of a fixed value. The system determines the real position of the rearview mirror by calculating the statistical data of these jump values. If the static state of the rearview mirror lasts for more than 2 seconds, the system will consider the position obtained at this time to be real and store it as the actual position A of the rearview mirror. This position is the reference position of the rearview mirror in the non-reverse gear state and is also the basis for the system to carry out precise control. During the reversing process, the system will calculate the compensation stroke and movement time of the motor based on the difference between the actual position A and the target position T to ensure that the rearview mirror can be accurately adjusted to the preset ground position. In this way, the system can maintain precise control of the rearview mirror position after multiple reversing operations, reducing error accumulation and improving driving safety.

[0070] Please refer to Figure 4 , Figure 4The motor running position diagram provided for the control method embodiment 1 of the reversing rearview mirror of the present application shows the motion compensation mechanism of the automobile rearview mirror motor in the automatic ground illumination function of the reversing, which includes the actual position A of the motor, the target position T, the compensation stroke S and the schematic diagram of the motor running time Δt. In the figure, Min Pos represents the minimum position of the motor movement, that is, the lowest limit position that the rearview mirror can move, and Max Pos represents the maximum position of the motor movement, that is, the highest limit position that the rearview mirror can move. Point A represents the actual position of the motor at a certain moment, and point T represents the target position to which the motor needs to move in order to realize the precise ground illumination function of the rearview mirror. The compensation stroke S means that due to the delay in the motor movement and the sampling of the position feedback signal, the system needs to make additional compensation for the motor stroke to ensure that the rearview mirror can accurately move to the predetermined target position. The motor running time Δt is calculated based on the moving speed of the motor and the compensation stroke S. The system will control the motor to run during this period to compensate for the position deviation caused by the sampling and processing delays. Through this precise control strategy, the system can ensure that the rearview mirror is automatically adjusted to the ground-illuminating position when reversing, and can accurately return to the original position after reversing is completed, thereby improving the safety and convenience of the car when reversing in a small space.

[0071] As an example, the step of obtaining the initial position of the rearview mirror includes: obtaining the fourth feedback position of the rearview mirror; when no manual adjustment instruction and memory position call instruction are received, using the fourth feedback position as the initial position of the rearview mirror; when a manual adjustment instruction or a memory position call instruction is received, controlling the rearview mirror motor according to the manual adjustment instruction or the memory position call instruction, and obtaining the fifth feedback position of the rearview mirror after the rearview mirror motor stops outputting for a third preset time; obtaining the initial position of the rearview mirror according to the fifth feedback position and the target compensation value, and storing the initial position.

[0072] The fourth feedback position refers to the rearview mirror position feedback signal value read in the current operating state. This value is obtained under specific conditions (i.e., when no manual adjustment instruction and memory position call instruction are received), and is used to represent the actual position of the rearview mirror at the current moment. The manual adjustment instruction refers to an instruction from the driver or the control system, requiring manual adjustment of the rearview mirror. These instructions are usually used to change the position of the rearview mirror so that the driver can adjust it according to personal needs or field of view requirements. The memory position call instruction refers to calling the storage position of the rearview mirror from the preset memory position. The driver can use this instruction to move the rearview mirror to a specific position recorded before, so as to quickly restore to the commonly used viewing angle setting. There can be multiple recorded rearview mirror positions, a driver can have multiple commonly used viewing angle settings, and a car can also record the personalized settings of multiple drivers. The third preset duration refers to the preset time of static waiting after the rearview mirror motor receives the adjustment instruction and starts to perform the adjustment. In this embodiment, it is 2 seconds. This period of time is used to ensure that the rearview mirror motor completely stops outputting and the position feedback signal is stable, so as to accurately read the new position of the rearview mirror. The fifth feedback position is the rearview mirror position feedback signal value after the rearview mirror motor completes adjustment and remains stationary for a third preset time. This value reflects the actual position after adjustment and is used to calculate the accurate initial position of the rearview mirror.

[0073] First, read the fourth feedback position of the rearview mirror, which is the rearview mirror position feedback signal value obtained under normal conditions. If the system does not receive any manual adjustment instructions (instructions for manually adjusting the rearview mirror position) or memory position call instructions (instructions for restoring the rearview mirror from a preset position) at this time, the fourth feedback position is directly used as the initial position of the rearview mirror. If a manual adjustment instruction or a memory position call instruction is received, the rearview mirror motor is adjusted according to these instructions, and then after the motor stops output and remains stationary for a third preset time (to ensure position stability), read the fifth feedback position, which is the actual position feedback value of the rearview mirror after adjustment. Finally, the fifth feedback position is combined with the target compensation value (the calculated value used to compensate for the adjustment error) to calculate the precise initial position, and the initial position is stored for subsequent use.

[0074] Step S20, when the vehicle gear is changed to the reverse gear and the duration is greater than a first preset time, a first travel range to be moved is calculated according to the initial position and the preset rearview mirror ground position;

[0075] It should be noted that the vehicle gear refers to the operating mode or position of the automobile transmission, and the gear determines the driving state of the vehicle, such as forward, reverse or parking. The reverse gear is a gear of the vehicle transmission, which is specially used to allow the vehicle to reverse. When the transmission is set to the reverse gear, the driving direction of the vehicle will be reversed, and the rearview mirror will be adjusted accordingly according to the need for reversing. The first preset duration refers to the minimum time that needs to be maintained after the vehicle gear is switched to the reverse gear. This period of time is used to ensure the stability of the vehicle gear so as to accurately trigger the rearview mirror adjustment function. In this embodiment, it is 1 second. The preset rearview mirror ground position refers to the specific position to which the rearview mirror should be adjusted during the reversing process in order to provide the driver with a clear view of the ground, which is to ensure that the specific position of the rear of the vehicle and the surrounding environment can be effectively observed during reversing. The first waiting movement stroke is the distance that the rearview mirror needs to move calculated after the vehicle gear is changed to the reverse gear. This stroke is determined by the difference between the initial position and the preset rearview mirror ground position, which represents the actual adjustment amount that the rearview mirror needs to make during the reversing process.

[0076] It is understandable that, first, the position of the rearview mirror in the initial state is recorded, which represents the position of the rearview mirror when the vehicle is not in the reverse state. Then, the target position to which the rearview mirror should be adjusted when reversing is determined, that is, the preset rearview mirror ground position. Then, by comparing the difference between the initial position and the preset rearview mirror ground position, the actual distance that the rearview mirror needs to move is calculated, and this distance is the first waiting movement stroke. This calculation process ensures that the rearview mirror can be accurately adjusted to the target position during the reversing process, thereby providing a better ground view and improving safety when reversing.

[0077] Step S30 , controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground-illuminating position, and the first to-be-moved stroke.

[0078] It should be noted that ground illumination refers to adjusting the rearview mirror to a specific angle so that its mirror surface can clearly reflect the ground behind the vehicle. This is usually done during reversing to provide a better ground view to help the driver observe the ground behind the vehicle, thereby improving safety during reversing.

[0079] It is understandable that the system will accurately adjust the position of the rearview mirror based on the target compensation value, the preset rearview mirror ground position and the first waiting motion stroke. First, the target compensation value is used to correct the position deviation caused by motor characteristics or measurement errors to ensure that the rearview mirror can accurately reach the target position. Then, the preset rearview mirror ground position is used as a reference to ensure that the rearview mirror is adjusted to the ideal angle to provide the best ground view. Finally, based on the first waiting motion stroke, this value represents the actual distance that the rearview mirror needs to move from the initial position to the preset ground position. The system controls the motor to drive the rearview mirror to accurately adjust to the preset position, thereby achieving accurate ground control of the rearview mirror and improving the clarity of vision and driving safety when reversing.

[0080] As an example, the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first waiting stroke includes: when the first waiting stroke is less than or equal to the target compensation value, obtaining the target compensation time; calculating the first waiting time according to the target compensation value, the target compensation time and the first waiting stroke; driving the rearview mirror motor according to the first waiting time so that the rearview mirror illuminates the ground.

[0081] The target compensation time refers to the time required to move the rearview mirror to the compensation value. This is the time calculated based on the target compensation value and is used to determine the actual time required for the motor to drive the rearview mirror to eliminate the position deviation. The first waiting time refers to the time calculated based on the target compensation value, the target compensation time and the first waiting travel, which is used to drive the rearview mirror motor to move the rearview mirror to the preset ground position. This time takes into account the impact of the target compensation value on the rearview mirror adjustment process, ensuring that the rearview mirror can be accurately adjusted within the appropriate time.

[0082] First, if the first waiting movement distance (i.e., the moving distance of the rearview mirror from the initial position to the preset ground-illuminating position) is less than or equal to the target compensation value (i.e., the maximum position deviation that needs to be compensated), the system will determine the target compensation time, which is the time required to move the rearview mirror by the target compensation value distance. Next, the system uses the target compensation value, the target compensation time, and the first waiting movement distance to calculate the first waiting movement time, which is the time required to control the rearview mirror motor to ensure that the rearview mirror can be accurately adjusted to the preset ground-illuminating position. Finally, according to the calculated first waiting movement time, the rearview mirror motor is driven to perform corresponding movements, so that the rearview mirror accurately reaches the ground-illuminating state and improves the clarity of the reversing field of view.

[0083] As an example, the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first waiting movement stroke includes: when the first waiting movement stroke is greater than the target compensation value, controlling the movement of the rearview mirror motor according to the preset rearview mirror ground position, and obtaining the first feedback position in real time; when the distance between the first feedback position and the preset rearview mirror ground position is less than or equal to the target compensation value, controlling the rearview mirror motor to stop moving.

[0084] The first feedback position refers to the real-time feedback value of the rearview mirror position during the adjustment of the rearview mirror motor. This feedback value is the data obtained by the motor control system from the position sensor or similar device, reflecting the current measured position of the rearview mirror. This feedback position is not equivalent to the actual position, because the actual position needs to be calculated by adding the target compensation value. Therefore, the first feedback position represents the current measured value during the adjustment process, while the actual position is the first feedback position plus the target compensation value.

[0085] First, if the first waiting motion stroke, that is, the distance the rearview mirror needs to move, is greater than the target compensation value, it means that the distance adjusted by the rearview mirror exceeds the range that needs to be compensated, so it needs to continue to be adjusted. The system will control the movement of the rearview mirror motor according to the preset rearview mirror ground position, and obtain the first feedback position in real time, which is the current measured position value of the rearview mirror detected by the motor control system. The purpose of obtaining the feedback position is to monitor the position change of the rearview mirror in real time to ensure that it is adjusted in the right direction. When the system detects that the distance between the first feedback position and the preset rearview mirror ground position is less than or equal to the target compensation value, that is, the rearview mirror has approached or reached the predetermined ideal position, indicating that the position adjustment is accurate enough. At this time, stop the movement of the rearview mirror motor to avoid over-adjustment or position drift, so as to complete the precise ground adjustment and ensure that the rearview mirror provides the required reversing field of view.

[0086] Please refer to Figure 5 , Figure 5The schematic diagram of the control process of the rearview mirror lighting the ground provided in the embodiment 1 of the control method of the reversing rearview mirror of the present application shows the control process of the rearview mirror of the car when performing the automatic reversing lighting function. The process starts from the "start" node, first checking whether the rearview mirror is in a stationary state and the driver has engaged the reverse gear (R gear). If the conditions are met, the system will determine whether the distance between the target position T and the current position A is greater than the compensation stroke S. If the distance is greater than S, the system will calculate the time t1 required for the drive motor to move, and then the drive motor starts to move to the target position. During the motor movement, the system will monitor the distance between the feedback position A' and the target position T in real time, and at the same time check whether the running time of the motor reaches or exceeds the predetermined time t1. If the distance between the real-time feedback position A' and the target position T is less than or equal to the compensation stroke S, or the running time of the motor has reached or exceeded the calculated movement time t1, the system will determine that the rearview mirror has reached the target position T, and the process will reach the "end" node at this time, and the rearview mirror lighting action is completed. If these conditions are not met, the motor will continue to move until the conditions are met. This process ensures that the rearview mirror can be accurately adjusted to the preset ground-illuminating position, improving safety and accuracy when reversing.

[0087] The present embodiment provides a control method for a reversing rearview mirror, which obtains a target compensation value and an initial position of the rearview mirror; when the vehicle gear is changed to the reverse gear and the duration is greater than a first preset time, a first travel to be moved is calculated based on the initial position and the preset rearview mirror ground position; and the rearview mirror ground is controlled based on the target compensation value, the preset rearview mirror ground position and the first travel to be moved. First, obtaining the target compensation value and the initial position of the rearview mirror provides a reference and correction parameter for adjustment for the system. The target compensation value is used to correct the deviation caused by possible motor characteristics or measurement errors, and the initial position is the position of the rearview mirror when the vehicle is driving normally, providing a reference for subsequent adjustments. Then, when the vehicle gear is switched to the reverse gear and the maintenance time exceeds the first preset time, the system calculates the first travel to be moved based on the initial position and the preset rearview mirror ground position, that is, the actual distance the rearview mirror needs to move. This step ensures that the system can accurately calculate the required adjustment amount in the reversing state so that the rearview mirror can accurately reach the preset ground position. Finally, the system controls the rearview mirror to illuminate the ground according to the target compensation value, the preset ground illumination position and the first to-be-moved stroke. If the first to-be-moved stroke is greater than the target compensation value, the system drives the motor until the distance between the feedback position and the preset ground illumination position is less than or equal to the target compensation value, thereby achieving precise adjustment. This embodiment can accurately control the rearview mirror to illuminate the ground, ensuring that the rearview mirror can provide a clear field of view when reversing, significantly improving the safety of reversing, and at the same time improving the stability and reliability of the system by compensating for deviations and optimizing adjustment accuracy.

[0088] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 6 , Figure 6 This is a flow chart of a second embodiment of the control method of a reversing rearview mirror of the present application. After step S30, the control method of the reversing rearview mirror further includes step S31:

[0089] Step S31, when the gear position of the vehicle changes from the reverse gear to the non-reverse gear, controlling the rearview mirror to return to the initial position according to the target compensation value, the target compensation time and the initial position.

[0090] It should be noted that non-reverse gear refers to the gear position of the vehicle being switched from reverse gear (R gear) to any other gear position, including but not limited to parking gear (P gear), forward gear (D gear), neutral gear (N gear), etc. These gear positions do not involve reverse operation, so they are called non-reverse gears.

[0091] It is understood that when the vehicle gear is switched from reverse gear to non-reverse gear, the system starts to perform the rearview mirror return operation. First, the system refers to the target compensation value and target compensation time, which are used to correct the deviation and movement delay that may occur during the adjustment of the rearview mirror. The system also relies on the previously recorded initial position, that is, the position of the rearview mirror when the vehicle is in normal driving state. Based on this data, the system controls the rearview mirror motor to accurately move it from the reverse position back to the initial position. This process ensures that the rearview mirror can be accurately restored to its normal position after the reverse operation is completed, avoiding long-term position deviation caused by reverse adjustment, thereby improving the driving experience and ensuring the overall safety of the vehicle.

[0092] As an example, when the vehicle gear changes from the reverse gear to the non-reverse gear, the step of controlling the rearview mirror to return to the initial position according to the target compensation value, the target compensation time and the initial position includes: when the vehicle gear changes from the reverse gear to the non-reverse gear, obtaining the second feedback position of the rearview mirror; calculating the second waiting movement stroke according to the second feedback position and the initial position; when the second waiting movement stroke is less than or equal to the target compensation value, calculating the second waiting movement time according to the target compensation value, the target compensation time and the second waiting movement stroke, and driving the rearview mirror motor according to the second waiting movement time to return the rearview mirror to the initial position; when the second waiting movement stroke is greater than the target compensation value, controlling the movement of the rearview mirror motor according to the initial position, and obtaining the third feedback position in real time; when the distance between the third feedback position and the initial position is less than or equal to the target compensation value, controlling the rearview mirror motor to stop moving.

[0093] The second feedback position refers to the rearview mirror position feedback signal measured by the system in real time when the vehicle gear changes from reverse gear to non-reverse gear. Since the feedback position may have errors, it is not completely equivalent to the actual position of the rearview mirror. The second waiting motion stroke refers to the actual distance from the second feedback position to the initial position, taking into account the influence of the target compensation value. This stroke is the distance the rearview mirror needs to move to return to the initial position. The second waiting motion time is the time calculated based on the target compensation value, the target compensation time and the second waiting motion stroke. It determines the length of time the motor runs to adjust the actual position of the rearview mirror so that it returns to the initial position accurately. The third feedback position refers to the rearview mirror feedback signal position obtained by the system in real time during the adjustment process. When the second waiting motion stroke is greater than the target compensation value, the system continuously adjusts the motor according to the feedback position, and confirms whether the rearview mirror is close to or reaches the initial position through the third feedback position. This feedback position is combined with the target compensation value to determine whether the actual position meets the requirements.

[0094] When the vehicle gear is switched from reverse gear to non-reverse gear, the system starts to adjust the rearview mirror to restore it to its initial position. First, the system obtains the second feedback position of the rearview mirror, which is the feedback signal measured when the gear is switched. Since there may be errors in the feedback position, it is necessary to compare it with the initial position and calculate the second waiting motion stroke, that is, the actual distance from the feedback position to the initial position. This step ensures that we understand the deviation of the rearview mirror relative to the initial position. If the second waiting motion stroke is less than or equal to the target compensation value, it means that the error cannot be eliminated by controlling the target position, and it can only be accurately controlled by controlling the motor drive time, because controlling the movement of the rearview mirror by controlling the target position of the rearview mirror will generate new deviations, while directly controlling the motor drive time will not. The system drives the motor by calculating the second waiting motion time to ensure that the rearview mirror moves to the correct position within a specific time. This can effectively compensate for the errors generated during the movement, thereby accurately adjusting the rearview mirror to the initial position. If the second waiting motion stroke is greater than the target compensation value, it means that the error is beyond the expected range, and the system needs to continue to adjust the motor movement and obtain the third feedback position in real time. By continuously comparing the distance between the third feedback position and the initial position, and stopping the motor when the distance is less than or equal to the target compensation value, the rearview mirror is ensured to return to the initial position accurately. This process compensates for the error in the rearview mirror positioning through real-time adjustment and feedback, thereby improving the accuracy of the rearview mirror position recovery and driving safety.

[0095] Please refer to Figure 7 , Figure 7The schematic diagram of the rearview mirror return control process provided for the second embodiment of the control method of the reversing rearview mirror of the present application shows the process of the rearview mirror of the car performing the return control after completing the automatic reversing function. The process starts from the "start" node, and first detects whether the vehicle has exited the reverse gear (R gear). Once the vehicle is no longer in the reversing state, the system will determine whether the distance between the target position B (the initial position to which the rearview mirror needs to return) and the current position A is greater than the compensation stroke S. If the distance exceeds S, the system will calculate the time t2 required for the drive motor to move, and start the motor to make the rearview mirror start to move to the target position B. During the operation of the motor, the system will monitor the position of the rearview mirror in real time, compare the distance between the real-time feedback position A' and the target position B to be less than or equal to the compensation stroke S, and check whether the running time of the motor reaches or exceeds the calculated movement time t2. When one of these two conditions is met, that is, the distance between the real-time feedback position A' and the target position B is less than or equal to the compensation stroke S, or the running time of the motor has reached or exceeded the predetermined time t2, the system will determine that the rearview mirror has accurately returned to the position B before the ground is illuminated. At this point, the process reaches the "end" node, and the rearview mirror return action is completed, ensuring that the rearview mirror can be accurately restored to its original position after reversing so that it can be used during normal driving of the vehicle. This process ensures precise control of the rearview mirror position and improves driving experience and safety.

[0096] In this embodiment, when the gear of the vehicle changes from the reverse gear to the non-reverse gear, the rearview mirror is controlled to return to the initial position according to the target compensation value, the target compensation time and the initial position. First, the system records the current rearview mirror position, that is, the second feedback position, to understand the actual deviation of the rearview mirror. Then, by comparing the second feedback position with the preset initial position, the movement stroke that needs to be adjusted is calculated. This step determines the distance that the rearview mirror needs to move. Subsequently, the system accurately controls the movement of the rearview mirror motor according to the target compensation value, the target compensation time and the calculated movement stroke. The target compensation value is used to correct the errors that may occur during the movement of the motor, and the target compensation time specifies the length of time required for the rearview mirror to move, thereby ensuring that the rearview mirror can accurately return to the initial position. Through these steps, the system improves the accuracy of rearview mirror position recovery, enhances driving safety, improves user experience, reduces the need for manual adjustment, and makes the field of view recovery after each reversing more reliable.

[0097] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the control method of the reversing rearview mirror of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0098] This application also provides a control device for a rearview mirror, please refer to Figure 8 , the control device of the rearview mirror comprises:

[0099] A data acquisition module 10 is used to obtain a target compensation value and an initial position of the rearview mirror;

[0100] The data processing module 20 is used to calculate a first travel range to be moved according to the initial position and a preset rearview mirror ground position when the vehicle gear position is changed to a reverse gear and the duration is greater than a first preset time length;

[0101] The control module 30 is used to control the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke.

[0102] In one embodiment, the control module 30 is also used to obtain a target compensation time when the first waiting movement distance is less than or equal to the target compensation value; calculate a first waiting movement time according to the target compensation value, the target compensation time and the first waiting movement distance; and drive the rearview mirror motor according to the first waiting movement time so that the rearview mirror illuminates the ground.

[0103] In one embodiment, the control module 30 is also used to control the movement of the rearview mirror motor according to the preset rearview mirror ground position when the first movement stroke is greater than the target compensation value, and obtain the first feedback position in real time; when the distance between the first feedback position and the preset rearview mirror ground position is less than or equal to the target compensation value, control the rearview mirror motor to stop moving.

[0104] In one embodiment, the control module 30 is further used to control the rearview mirror to return to the initial position according to the target compensation value, the target compensation time and the initial position when the vehicle gear changes from the reverse gear to the non-reverse gear.

[0105] In one embodiment, the control module 30 is also used to obtain the second feedback position of the rearview mirror when the vehicle gear changes from the reverse gear to the non-reverse gear; calculate the second waiting movement stroke according to the second feedback position and the initial position; when the second waiting movement stroke is less than or equal to the target compensation value, calculate the second waiting movement time according to the target compensation value, the target compensation time and the second waiting movement stroke, and drive the rearview mirror motor according to the second waiting movement time to return the rearview mirror to the initial position; when the second waiting movement stroke is greater than the target compensation value, control the movement of the rearview mirror motor according to the initial position, and obtain the third feedback position in real time; when the distance between the third feedback position and the initial position is less than or equal to the target compensation value, control the rearview mirror motor to stop moving.

[0106] In one embodiment, the data acquisition module 10 is also used to read the first position feedback signal value when the output state of the rearview mirror motor changes from normal output to stop output, and read the second position feedback signal value after waiting for a second preset time; use the difference between the first position feedback signal value and the second position feedback signal value as the initial compensation value; calculate the average value based on the initial compensation value to obtain the target compensation value.

[0107] In one embodiment, the data acquisition module 10 is also used to obtain a fourth feedback position of the rearview mirror; when no manual adjustment instruction and a memory position call instruction are received, the fourth feedback position is used as the initial position of the rearview mirror; when a manual adjustment instruction or a memory position call instruction is received, the rearview mirror motor is controlled according to the manual adjustment instruction or the memory position call instruction, and the fifth feedback position of the rearview mirror is obtained after the rearview mirror motor stops outputting for a third preset time; the initial position of the rearview mirror is obtained according to the fifth feedback position and the target compensation value, and the initial position is stored.

[0108] The control device for the rearview mirror provided by the present application adopts the control method for the rearview mirror in the above embodiment, and can solve the technical problem of how to accurately control the rearview mirror to illuminate the ground. Compared with the prior art, the beneficial effects of the control device for the rearview mirror provided by the present application are the same as the beneficial effects of the control method for the rearview mirror provided by the above embodiment, and other technical features in the control device for the rearview mirror are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0109] The present application provides a control device for a reversing rearview mirror, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method for the reversing rearview mirror in the above-mentioned embodiment one.

[0110] Reference below Fig. 9, which shows a schematic diagram of the structure of a control device for a rearview mirror suitable for implementing an embodiment of the present application. The control device for a rearview mirror in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The control device of the reversing rearview mirror shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Fig. 9 As shown, the control device of the rearview mirror may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the control device of the rearview mirror are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the control device of the rearview mirror to communicate with other devices wirelessly or by wire to exchange data. Although the control device of the rearview mirror having various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The control device of the reversing rearview mirror provided by the present application adopts the control method of the reversing rearview mirror in the above embodiment, which can solve the technical problem of how to accurately control the rearview mirror to illuminate the ground. Compared with the prior art, the beneficial effects of the control device of the reversing rearview mirror provided by the present application are the same as the beneficial effects of the control method of the reversing rearview mirror provided by the above embodiment, and other technical features in the control device of the reversing rearview mirror are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the control method of the reversing rearview mirror in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable storage medium may be included in the control device of the rearview mirror; or may exist independently without being assembled into the control device of the rearview mirror.

[0119] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the control device of the reversing rearview mirror, the control device of the reversing rearview mirror: obtains the target compensation value and initial position of the rearview mirror; when the vehicle gear is changed to the reverse gear and the duration is greater than a first preset time, calculates a first waiting movement stroke according to the initial position and the preset rearview mirror ground position; controls the rearview mirror ground according to the target compensation value, the preset rearview mirror ground position and the first waiting movement stroke.

[0120] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0122] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0123] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned control method of the rearview mirror, and can solve the technical problem of how to accurately control the rearview mirror to illuminate the ground. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the control method of the rearview mirror provided by the above-mentioned embodiment, and will not be repeated here.

[0124] The present application also provides a computer program product, including a computer program, which implements the steps of the control method of the reversing rearview mirror as described above when executed by a processor.

[0125] The computer program product provided by the present application can solve the technical problem of how to accurately control the rearview mirror to illuminate the ground. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the control method of the rearview mirror provided by the above embodiment, which will not be repeated here.

[0126] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling a rearview mirror. It is characterized in that The method comprises: Obtain the target compensation value and initial position of the rearview mirror; When the gear position of the vehicle is changed to the reverse gear and the duration is greater than a first preset time length, a first travel range to be moved is calculated according to the initial position and the preset rearview mirror ground position; The rearview mirror is controlled to illuminate the ground according to the target compensation value, the preset rearview mirror ground-illuminating position and the first to-be-moved stroke.

2. The method according to claim 1, It is characterized in that The step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke comprises: When the first to-be-moved stroke is less than or equal to the target compensation value, obtaining a target compensation time; Calculate a first waiting time for movement according to the target compensation value, the target compensation time and the first waiting travel distance; The rearview mirror motor is driven according to the first waiting time so that the rearview mirror illuminates the ground.

3. The method according to claim 1, It is characterized in that The step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke comprises: When the first to-be-moved stroke is greater than the target compensation value, the rearview mirror motor is controlled to move according to the preset rearview mirror ground position, and a first feedback position is acquired in real time; When the distance between the first feedback position and the preset rearview mirror ground-illuminating position is less than or equal to the target compensation value, the rearview mirror motor is controlled to stop moving.

4. The method according to claim 1, It is characterized in that After the step of controlling the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke, the method further includes: When the gear position of the vehicle changes from the reverse gear to the non-reverse gear, the rearview mirror is controlled to return to the initial position according to the target compensation value, the target compensation time and the initial position.

5. The method according to claim 4, It is characterized in that When the gear position of the vehicle changes from the reverse gear to the non-reverse gear, the step of controlling the rearview mirror to return to the initial position according to the target compensation value, the target compensation time and the initial position comprises: When the gear position of the vehicle changes from the reverse gear to the non-reverse gear, obtaining a second feedback position of the rearview mirror; Calculate a second travel distance to be moved according to the second feedback position and the initial position; When the second waiting movement distance is less than or equal to the target compensation value, a second waiting movement time is calculated according to the target compensation value, the target compensation time and the second waiting movement distance, and a rearview mirror motor is driven according to the second waiting movement time to return the rearview mirror to the initial position; When the second to-be-moved stroke is greater than the target compensation value, controlling the movement of the rearview mirror motor according to the initial position, and acquiring a third feedback position in real time; When the distance between the third feedback position and the initial position is less than or equal to the target compensation value, the rearview mirror motor is controlled to stop moving.

6. The method according to claim 1, It is characterized in that The step of obtaining the target compensation value of the rearview mirror comprises: When the output state of the rearview mirror motor changes from normal output to stop output, a first position feedback signal value is read and obtained, and a second position feedback signal value is read and obtained after waiting for a second preset time period; taking the difference between the first position feedback signal value and the second position feedback signal value as an initial compensation value; An average value is calculated according to the initial compensation value to obtain a target compensation value.

7. The method according to any one of claims 1 to 6, It is characterized in that The step of obtaining the initial position of the rearview mirror comprises: obtaining a fourth feedback position of the rearview mirror; When no manual adjustment instruction and memory position call instruction are received, the fourth feedback position is used as the initial position of the rearview mirror; When a manual adjustment instruction or a memory position call instruction is received, the rearview mirror motor is controlled according to the manual adjustment instruction or the memory position call instruction, and a fifth feedback position of the rearview mirror is obtained after the rearview mirror motor stops outputting for a third preset time period; An initial position of the rearview mirror is obtained according to the fifth feedback position and the target compensation value, and the initial position is stored.

8. A control device for a rearview mirror. It is characterized in that The device comprises: A data acquisition module, used to obtain a target compensation value and an initial position of the rearview mirror; A data processing module, configured to calculate a first travel range to be moved according to the initial position and a preset rearview mirror ground position when the vehicle gear position is changed to a reverse gear and the duration is greater than a first preset time length; A control module is used to control the rearview mirror to illuminate the ground according to the target compensation value, the preset rearview mirror ground position and the first to-be-moved stroke.

9. A control device for a rearview mirror. It is characterized in that The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for controlling a reversing rearview mirror according to any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for controlling a reversing rearview mirror as claimed in any one of claims 1 to 7 are implemented.

Images