Rearview mirror adjusting method and device and vehicle

Abstract

The invention provides a rearview mirror adjusting method and device and a vehicle, and the method comprises the steps: determining the head posture deviation information based on the current head posture information and the preset head posture information of a target rearview mirror, and correspondingly adjusting the rearview mirror based on the head posture deviation information; wherein the current head posture information can reflect the head posture information of the current user viewing the target rearview mirror, and the preset head posture information of the target rearview mirror reflects the head posture information of the target rearview mirror viewing in a conventional driving state, so that the head posture deviation information determined on the basis of the current head posture information and the preset head posture information; according to the method, the head posture of the user in a special driving scene (such as reversing parking and lateral parking) can be reflected, correspondingly, the rearview mirror is correspondingly adjusted by combining the deviation information based on the head posture, the actual driving scene can be effectively matched, and meanwhile, the conventional posture requirement of the driver for the rearview mirror is considered.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle intelligent control, and in particular to a rearview mirror adjustment method, device and vehicle. Background Art

[0002] At present, electronic rearview mirror technology is quietly emerging and has become a new trend to improve driving safety and convenience.

[0003] In the prior art, electronic rearview mirrors generally use fixed parameters for automatic adjustment, which cannot effectively match actual driving conditions, which not only brings inconvenience to the driver but also affects driving safety.

[0004] Therefore, the adjustment of existing electronic rearview mirrors needs to be improved. Summary of the invention

[0005] The embodiments of the present invention provide a rearview mirror adjustment method, device and vehicle to solve the problem in the prior art that the adjustment of the rearview mirror cannot effectively match the actual driving conditions, which easily brings inconvenience to the driver and affects driving safety.

[0006] In a first aspect, an embodiment of the present invention provides a rearview mirror adjustment method, the method comprising:

[0007] Obtain the driver's actual head posture information;

[0008] According to the actual head posture information and the preset head posture information corresponding to each rearview mirror, the rearview mirror currently viewed by the driver is determined as the target rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror in a normal driving state;

[0009] Determining the head posture deviation information of the driver according to the actual head posture information and the preset head posture information corresponding to the target rearview mirror;

[0010] The posture of the target rearview mirror is adjusted according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

[0011] Optionally, in the rearview mirror adjustment method, the step of obtaining the actual head posture information of the driver includes:

[0012] Based on the depth image acquisition component, the current head depth image of the driver is acquired; the head depth image carries the depth information and pixel color information of the driver's head;

[0013] Using the depth information and pixel color information carried by the head depth image as input of a head posture recognition model, and obtaining output information of the head posture recognition model;

[0014] The head posture information included in the output information of the head posture recognition model is extracted as the actual head posture information.

[0015] Optionally, in the rearview mirror adjustment method, the head posture recognition model is trained using the following method:

[0016] Acquire training sample data, the training sample data including feature information and label information of a sample head depth image; the label information includes head posture information of the head in the sample head depth image, and the feature information includes depth information and pixel color information carried by the sample head depth image;

[0017] The feature information and label information of the training sample data are input into a neural network model, and the neural network model is trained using a preset model training method to obtain the head posture recognition model.

[0018] Optionally, in the rearview mirror adjustment method, the actual head posture information includes an actual head yaw angle, which is the current yaw angle of the driver's head, and the preset head posture information includes a preset head yaw angle, which is the yaw angle of the driver's head when checking the rearview mirror in the normal driving state;

[0019] The method of determining the rearview mirror currently viewed by the driver as the target rearview mirror according to the actual head posture information and the preset head posture information corresponding to each rearview mirror includes:

[0020] For any of the rearview mirrors, determining an absolute difference between a preset head yaw angle corresponding to the rearview mirror and the actual head yaw angle as a target angle difference;

[0021] When the target angle difference is less than a preset angle difference threshold, the rearview mirror is determined as the target rearview mirror.

[0022] Optionally, in the rearview mirror adjustment method, adjusting the posture of the target rearview mirror according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror includes:

[0023] Determine a posture adjustment increment for the target rearview mirror according to the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value;

[0024] Determining target rearview mirror posture information for the target rearview mirror based on the preset rearview mirror posture information corresponding to the target rearview mirror and the posture adjustment increment;

[0025] Based on the target rearview mirror posture information, the posture of the target rearview mirror is adjusted.

[0026] Optionally, in the rearview mirror adjustment method, the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value are all expressed in Euler angles, and the Euler angles include pitch angle, yaw angle and roll angle;

[0027] The step of determining a posture adjustment increment for the target rearview mirror according to the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value comprises:

[0028] Using the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information, and the preset head posture limit value as inputs of a preset formula, and obtaining the output of the preset formula to obtain the posture adjustment increment;

[0029] Wherein, the preset formula includes:

[0030]

[0031]

[0032] Among them, Δp mirror , Δy mirror , Δr mirror They represent the pitch angle increment, yaw angle increment, and roll angle increment in the attitude adjustment increment, respectively. current ,y currejt ,r current ) is the Euler angle in the actual head posture information, is the Euler angle in the preset head posture information corresponding to the target rearview mirror, They respectively represent the pitch angle deviation value, yaw angle deviation value, and roll angle deviation value in the head posture deviation information, (p common ,y common ,r common ) is the Euler angle in the preset rearview mirror posture information corresponding to the target rearview mirror, ((p Hmin ,p Hmax ),(y Hmin ,y Hmax ),(rHmin ,r hmax )) is the Euler angle limit value in the preset head posture limit value corresponding to the target rearview mirror, ((p Mmin ,p Mmax ),(y Mmin ,y Mmax ),(r Mmin ,r Mmax )) is the Euler angle limit value in the preset rearview mirror attitude limit value corresponding to the target rearview mirror.

[0033] Optionally, before obtaining the actual head posture information of the driver, the method further includes:

[0034] When a first input for instructing to start adjusting the rearview mirror is received, a step of acquiring actual head posture information of the driver is performed.

[0035] Optionally, after adjusting the target rearview mirror, the method further comprises:

[0036] When a second input for instructing to stop adjusting the rearview mirror is received, the target rearview mirror is restored to a state corresponding to the preset posture information.

[0037] Optionally, in the rearview mirror adjustment method, each of the rearview mirrors is an electronic rearview mirror.

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

[0039] An acquisition module, used to acquire the actual head posture information of the driver;

[0040] A first determination module is used to determine the rearview mirror currently viewed by the driver as a target rearview mirror according to the actual head posture information and preset head posture information corresponding to each rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror in a normal driving state;

[0041] A second determination module is used to determine the head posture deviation information of the driver according to the actual head posture information and the preset head posture information corresponding to the target rearview mirror;

[0042] The first adjustment module is used to adjust the posture of the target rearview mirror according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

[0043] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus; wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0044] Memory, used to store computer programs;

[0045] The processor is used to implement the steps of the rearview mirror adjustment method described in the first aspect when executing the program stored in the memory.

[0046] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the rearview mirror adjustment method described in the first aspect above.

[0047] In a fifth aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising a rearview mirror, and the vehicle further comprising a rearview mirror adjustment device as described in the second aspect above.

[0048] Compared with the prior art, the present invention has the following advantages:

[0049] In an embodiment of the present invention, head posture deviation information is determined based on the driver's current head posture information and the preset head posture information of the target rearview mirror, and then the rearview mirror is adjusted accordingly in combination with the head posture deviation information; wherein, the current head posture information can reflect the head posture information of the current user viewing the target rearview mirror, and the preset head posture information of the target rearview mirror reflects the head posture information of viewing the target rearview mirror under normal driving conditions. Therefore, the head posture deviation information determined based on the two can reflect the user's head posture in special driving scenarios (for example, reversing into a garage, parallel parking). Accordingly, the rearview mirror is adjusted accordingly in combination with the head posture deviation information, which can effectively match the actual driving scenario while taking into account the driver's regular posture requirements for the rearview mirror, so as to observe the lane information farther to the side and rear, effectively avoid high-risk situations caused by failure to observe or adjusting the driver's body to observe the rearview mirror, and ensure the life safety of the driver.

[0050] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.

[0052] Figure 1A schematic diagram of a flow chart of a rearview mirror adjustment method provided by an embodiment of the present invention

[0053] Figure 2 A schematic diagram of a rearview mirror adjustment device provided by an embodiment of the present invention;

[0054] Figure 3 A block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can also be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0056] As the modern driving experience continues to evolve, electronic rearview mirror technology has also quietly emerged, becoming a new trend to improve driving safety and convenience.

[0057] However, in the prior art, the adjustment of electronic rearview mirrors usually relies on manual operation by the driver or automatic adjustment using fixed mode and fixed parameters, such as automatically adjusting the rearview mirror to a preset angle when reversing. Among them, manual operation can easily distract the driver and thus affect driving safety; and the method of automatic adjustment using fixed parameters cannot effectively adjust the angle of the electronic rearview mirror to match different driving conditions.

[0058] For example, when reversing into a parking space, the driver may be more concerned about whether the tire is just close to the wheel limiter, while when parking sideways, the driver may be more concerned about whether the distance between the tire and the curb is appropriate. At this time, the rearview mirror needs to be adjusted vertically to observe more of the situation around the wheel; while driving on the highway, especially at the moment of ramp merging, facing the dense traffic on the merging lane, or even the vehicles changing lanes next to it, the rearview mirror needs to be adjusted horizontally to obtain a wider and farther field of view, helping the driver to more clearly grasp the dynamics of the surrounding lanes. The above-mentioned method of automatic adjustment using fixed parameters obviously cannot effectively meet the above-mentioned various field of view requirements.

[0059] In view of the above problems, an embodiment of the present invention provides a rearview mirror adjustment method, such as Figure 1 As shown, it includes steps 101 to 104.

[0060] The rearview mirror adjustment method provided in an embodiment of the present invention is applied to a domain controller of a vehicle-mounted terminal, and the domain controller is connected to a vehicle-mounted system, which includes a display device, a camera system, a microphone, an audio device, etc.; the display device may specifically include a central control display screen; the camera system includes an in-vehicle camera for taking a head shot of the driver's seat.

[0061] Step 101: Acquire actual head posture information of the driver.

[0062] In this step, the actual head posture information describes the actual head posture; after the vehicle is powered on, the camera system captures an image of the vehicle's current driving position, and the driver's head posture is recognized through the image, thereby obtaining the actual head posture information.

[0063] It should be noted that the data acquisition process and related data involved in the embodiments of the present invention are all carried out in compliance with the corresponding data protection laws and policies of the country where they are located, and with the authorization given by the corresponding device owner.

[0064] Step 102: Determine the rearview mirror currently viewed by the driver as the target rearview mirror based on the actual head posture information and the preset head posture information corresponding to each rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror under normal driving conditions.

[0065] In this step, the preset head posture information describes the head posture of the driver when checking the rearview mirror in a normal driving state; wherein the normal driving state is, for example, normal forward driving.

[0066] In this step, because the driver's head posture when looking at different rearview mirrors is often different, it is necessary to set corresponding preset head posture information for different rearview mirrors in advance.

[0067] In this step, because the actual head posture information describes the driver's current actual head posture, and the preset head posture information describes the driver's head posture when looking at the rearview mirror under normal driving conditions, the two can be used to determine the rearview mirror that the driver's head is facing, and use this rearview mirror as the target rearview mirror that he needs to look at.

[0068] In practical applications, the rearview mirror may be a conventional rearview mirror or an electronic rearview mirror.

[0069] Step 103: Determine the driver's head posture deviation information based on the actual head posture information and the preset head posture information corresponding to the target rearview mirror.

[0070] In this step, the preset posture information corresponding to the target rearview mirror describes the head posture that the driver is accustomed to when looking at the target rearview mirror under normal conditions, and the actual head posture information describes the driver's current actual head posture. Therefore, by combining the two, the deviation between the driver's current head posture and the head posture under normal driving conditions can be judged as the above-mentioned head posture deviation information. Based on the head posture deviation information, the states such as reversing, parallel parking, and lane changing can be identified, and the rearview mirror angle can be adaptively adjusted.

[0071] Step 104: adjusting the posture of the target rearview mirror according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

[0072] In this step, the preset rearview mirror posture information describes the rearview mirror posture that the driver is accustomed to setting under normal conditions, and the above-mentioned head posture deviation information describes the deviation between the driver's current head posture and the head posture under normal driving conditions. The deviation reflects the posture adjustment range required by the driver for the target rearview mirror, and can also reflect the user's head posture in special driving scenarios (for example, reversing into a garage, parallel parking). The posture of the target rearview mirror is adaptively adjusted in combination with the preset posture information, which can not only take into account the driver's field of vision habits of the target rearview mirror, but also meet the current driving scenario, and is more conducive to observing the side and rear lane conditions of the vehicle.

[0073] In an embodiment of the present invention, head posture deviation information is determined based on the driver's current head posture information and the preset head posture information of the target rearview mirror, and then the rearview mirror is adjusted accordingly in combination with the head posture deviation information; wherein, the current head posture information can reflect the head posture information of the current user viewing the target rearview mirror, and the preset head posture information of the target rearview mirror reflects the head posture information of viewing the target rearview mirror under normal driving conditions. Therefore, the head posture deviation information determined based on the two can reflect the user's head posture in special driving scenarios (for example, reversing into a garage, parallel parking). Accordingly, the rearview mirror is adjusted accordingly in combination with the head posture deviation information, which can effectively match the actual driving scenario while taking into account the driver's regular posture requirements for the rearview mirror, so as to observe the lane information farther to the side and rear, effectively avoid high-risk situations caused by failure to observe or adjusting the driver's body to observe the rearview mirror, and ensure the driver's life safety.

[0074] Optionally, the rearview mirror may be an electronic rearview mirror, the display screen device may further include a rearview mirror display screen, and the camera system may further include a rearview mirror camera for observing the scene image behind the vehicle. Accordingly, the preset head posture information is the head posture information of the driver viewing the corresponding rearview mirror display screen in a normal driving state.

[0075] Optionally, considering that different drivers often have different head postures when viewing the same rearview mirror and their customary posture settings for the rearview mirror, a first correspondence between the driver's identity information, the rearview mirror and the posture information can be established in advance in the vehicle system. The above-mentioned posture information includes the driver's preset head posture information and the preset rearview mirror posture information of the rearview mirror. The above-mentioned driver identity information can be the driver's ID number, head portrait and other identity information that can be specifically identified; after the vehicle determines the driver's identity information and the target rearview mirror, the preset head posture information and preset rearview mirror posture information corresponding to the target rearview mirror can be quickly acquired through the above-mentioned correspondence.

[0076] In actual applications, the driver's identity information can be used to establish a driver account in the vehicle system. The driver account records the driver's preset head posture information for each rearview mirror and the preset rearview mirror posture information for each rearview mirror, thereby establishing the above-mentioned first corresponding relationship.

[0077] Optionally, in one implementation, the above step 101 includes steps 111 to 113:

[0078] Step 111: Based on the depth image acquisition component, the current head depth image of the driver is acquired; the head depth image carries the depth information and pixel color information of the driver's head.

[0079] In this step, the in-vehicle camera is set to be an RGBD camera, and the above-mentioned depth image acquisition component is the above-mentioned RGBD camera. The image information of the driving seat is captured by the RGBD camera, that is, the head depth image carrying the depth information of the driver's head and the pixel color information can be collected.

[0080] Step 112: Use the depth information and pixel color information carried by the head depth image as input of a head posture recognition model, and obtain output information of the head posture recognition model.

[0081] In this step, the pixel color information and depth information in the actual head depth image of the driver are input into a pre-trained head posture recognition model, and the head posture recognition model at least outputs the driver's head posture based on the depth information and pixel color information, that is, the above-mentioned output information is obtained. Among them, because the head posture recognition model can be pre-trained based on training sample data, the probability of the driver's head posture belonging to different head postures can be calculated based on the pixel color information and depth information of different head images of the driver, that is, the specific head posture of the driver can be determined according to the probability.

[0082] Step 113: extract the head posture information included in the output information of the head posture recognition model as the actual head posture information.

[0083] In this step, because the head posture recognition model can at least calculate the driver's head posture based on the depth information and pixel color information in the driver's head depth image and output it as output information, when the pixel color information and depth information in the driver's actual head depth image are input into the head posture recognition model, the head posture information included in the output information reflects the driver's current head posture, and can thus be used as the above-mentioned actual head posture information.

[0084] In this implementation, by collecting the current head depth image of the driver and inputting the trained head posture recognition model, the current actual head posture information of the driver can be quickly obtained.

[0085] Optionally, in a specific implementation, the training process of the head posture recognition model may include steps S1121 to S1122:

[0086] Step S1121, obtaining training sample data, the training sample data packet includes feature information and label information of a sample head depth image; the label information includes head posture information of the head in the sample head depth image, and the feature information includes depth information and pixel color information carried by the sample head depth image.

[0087] In this step, the training sample data may include feature information and label information of a sample head depth image when the driver is in the driving seat, the feature information includes pixel color information and depth information in the sample head depth image, the above feature variables are different under different head postures, and the above head posture information may be a real head posture, specifically, the actual head Euler angle.

[0088] Among them, the depth information contains strong target contour information and is more robust than the head image using RGB alone, especially when the colors are similar or the lighting is strong.

[0089] Step S1122: input the feature information and label information of the training sample data into the neural network model, and use a preset model training method to train the neural network model to obtain the head posture recognition model.

[0090] In this step, the neural network model is trained according to a preset model training method using the feature variables and corresponding label variables in the training sample data, thereby obtaining a head posture recognition model.

[0091] Optionally, in a specific embodiment, in order to improve the model training efficiency and calculation accuracy, the above-mentioned label information also includes sample head coordinate information, and the sample head coordinate information is the upper left corner coordinates and width and height of the pre-marked head rectangular box; accordingly, the output information of the above-mentioned head posture recognition model includes head coordinate information and head posture information, and the head posture information extracted from the output information can be used as the actual head posture information.

[0092] Optionally, the above-mentioned neural network model can be a single-stage target detection network model, that is, a single-stage detection network architecture is adopted, such as Yolov8. By collecting the head RGB data and depth (Depth) information of the driving position RGBD camera perspective and inputting the above-mentioned neural network model for training, a head posture recognition model can be obtained; wherein, multimodal information is combined with the single-stage detection network to directly obtain high-precision head posture information.

[0093] In actual applications, the preset model training method includes: using about 60,000 head posture data (including head images, depth information, head rectangular frame coordinate information and head posture information), training iteratively for 300 cycles (epochs), and completing the training.

[0094] Among them, by inputting the RGB data and Depth data of the driving position RGBD camera with similar scenes, the results inferred by the deep learning network can be directly obtained, that is, the coordinate information of the head rectangular box in the driving position image and the Euler angle output of the head posture can be directly obtained, which can realize end-to-end, low-latency and high-precision 3D head posture estimation.

[0095] Optionally, in one embodiment, the actual head posture information, the preset rearview mirror posture information, and the preset head posture information are all expressed in Euler angles, that is, they all include pitch angle (pitch), yaw angle (yaw) and roll angle (roll), which can more intuitively and clearly express the spatial posture.

[0096] Optionally, in one embodiment, the above-mentioned actual head posture information includes an actual head yaw angle, which is the current yaw angle of the driver's head; the preset head posture information includes a preset head yaw angle, which is the yaw angle of the driver's head when looking at the rearview mirror under normal driving conditions; the above-mentioned step 102 includes steps 121 to 122.

[0097] In this embodiment, the yaw angle of the driver's head when the driver looks at the rearview mirror in a normal driving state is preset for each rearview mirror as the above-mentioned preset head yaw angle.

[0098] Step 121: For any of the rearview mirrors, determine the absolute difference between the preset head yaw angle corresponding to the rearview mirror and the actual head yaw angle as the target angle difference.

[0099] In this step, for each rearview mirror, the corresponding preset head yaw angle is determined, and the absolute value of the difference between the preset head yaw angle and the actual head yaw angle of the driver is calculated as the above-mentioned target angle difference.

[0100] Step 122: When the target angle difference is less than a preset angle difference threshold, the rearview mirror is determined as the target rearview mirror.

[0101] In this step, because the target angle difference describes the deviation between the driver's current actual head yaw angle and the preset head yaw angle for viewing the rearview mirror under normal driving conditions, and the above-mentioned preset angle difference threshold is the angle difference threshold for determining whether the driver views the rearview mirror; when the target angle difference is less than the preset angle difference threshold, it means that the driver's current actual head yaw angle has a small deviation from the preset head yaw angle corresponding to the rearview mirror, and thus the rearview mirror can be used as the target rearview mirror.

[0102] Optionally, in a specific embodiment, each of the rearview mirrors includes a left rearview mirror located on the left side of the driver's seat and a right rearview mirror located on the right side of the driver's seat;

[0103] The above step 102 includes step 123:

[0104] Step 121: Determine the target rearview mirror according to the actual head yaw angle in the actual head posture information of the driver and the preset head yaw angle in the preset head information corresponding to each rearview mirror according to the following formula (1):

[0105]

[0106] Among them, M is the target rearview mirror, M Left and M Right They are the left and right rearview mirrors, y current is the actual head yaw angle of the driver, is the preset head yaw angle corresponding to the left rearview mirror, It is the preset head yaw angle corresponding to the right rearview mirror.

[0107] In this specific implementation, when the head rotates left and right, the actual head yaw angle y current The offset is the largest, and considering that the head can cover about 150 to 180 degrees during left and right rotation, it is more reasonable to select a 60-degree offset range as the threshold for judging the left and right direction of the head. , it means that the head yaw angle at this moment is less than 30 degrees from the preset yaw angle when looking at the left rearview mirror screen. At this time, it can be judged that the person is looking at the left rearview mirror screen in this direction; if the driver's head yaw angle offset is , it means that the head yaw angle at this moment is less than 30 degrees from the preset yaw angle when looking at the right rearview mirror screen. At this time, it can be determined that the person is looking at the right rearview mirror screen in this direction.

[0108] Optionally, in one implementation, the above step 104 includes steps 141 to 143:

[0109] Step 141, determining a posture adjustment increment for the target rearview mirror based on the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value; the preset rearview mirror posture limit value includes the upper limit value and the lower limit value of the rearview mirror posture information of the target rearview mirror, and the preset head posture limit value includes the upper limit value and the lower limit value of the head posture information when the driver looks at the target rearview mirror.

[0110] In this step, the preset rearview mirror posture limit value describes the extreme posture of the rearview mirror that the driver is allowed to adjust when checking the target rearview mirror under the premise of ensuring driving safety; the preset head posture limit value describes the extreme posture of the head when the driver can use peripheral vision to observe the front and side situations; and the head posture deviation information describes the deviation between the driver's current head posture and the head posture under normal driving conditions, the preset head posture information describes the head posture that the driver is accustomed to when checking the target rearview mirror under normal conditions, and the preset rearview mirror posture information describes the rearview mirror posture that the driver is accustomed to setting under normal conditions. The posture adjustment increment determined based on these five can not only match the actual driving scene, but also take into account the driver's requirements for the posture of the rearview mirror, and can also match the driver's head posture habit of checking the rearview mirror.

[0111] Step 142: Determine target rearview mirror posture information for the target rearview mirror based on the preset rearview mirror posture information corresponding to the target rearview mirror and the posture adjustment increment.

[0112] In this step, the target posture information describes the posture that the driver needs the target rearview mirror to achieve; because the preset head posture information describes the head posture that the driver is accustomed to when looking at the target rearview mirror under normal conditions, and the posture adjustment increment describes the posture adjustment amplitude that the driver needs the target rearview mirror to achieve, the two can be added together to determine the above-mentioned target posture information.

[0113] Step 143: Adjust the posture of the target rearview mirror based on the target rearview mirror posture information.

[0114] In this step, the target rearview mirror is adjusted to a state corresponding to the target rearview mirror posture information, which can not only take into account the driver's field of vision habits of the target rearview mirror while ensuring driving safety, but also meet the driver's current field of vision requirements, and is more conducive to observing the side and rear lane conditions of the vehicle.

[0115] In the above embodiment, after determining the target rearview mirror, the posture adjustment increment is determined to adjust the target rearview mirror based on the head posture deviation information combined with the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value, which takes into account the driver's field of vision habits of the target rearview mirror and meets the driver's current field of vision requirements.

[0116] Optionally, considering that the common head postures used by different drivers when viewing the same rearview mirror, the preset rearview mirror postures for the rearview mirror, the preset head posture limit values ​​and the preset rearview mirror posture limit values ​​for the rearview mirror are often different, a second correspondence between the driver's identity information, the rearview mirror and the posture information can be established in advance in the vehicle system. The above-mentioned posture information includes the driver's preset head posture information, the preset rearview mirror posture information of the rearview mirror, the preset rearview mirror posture limit values ​​of the rearview mirror, and the driver's preset head posture limit values. The above-mentioned driver identity information can be the driver's ID number, head portrait and other identity information that can be specifically identified; after the vehicle determines the driver's identity information and the target rearview mirror, the preset head posture information of the driver viewing the target rearview mirror, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit values ​​corresponding to the target rearview mirror, and the preset head posture limit values ​​of the driver viewing the target rearview mirror can be quickly obtained through the above-mentioned correspondence.

[0117] In actual applications, the driver's identity information can be used to establish a driver account in the vehicle system. The above driver account records the driver's preset head posture information, preset head posture limit values, preset rearview mirror posture information and preset rearview mirror posture limit values ​​corresponding to each rearview mirror, thereby establishing the above-mentioned second corresponding relationship.

[0118] Specifically, when the driver uses the rearview mirror adjustment function for the first time, the vehicle needs to be parked and the left / right rearview mirror needs to be selected for initial setting through the vehicle's central control display or voice. The setting steps are as follows:

[0119] 1. Select left rearview mirror settings or right rearview mirror settings on the central control display or by voice.

[0120] 2. Prompt the driver to look straight ahead at the selected electronic rearview mirror display.

[0121] 3. The system records the pitch angle p of the head when looking at this angle b , yaw angle y b and the rolling angle r b , forming the Euler angle (p b ,y b ,r b ), and calculate the average value through multiple records As the driver's preset head posture information for the rearview mirror, the rearview mirror angle (p common ,y common ,r common ), as the preset rearview mirror posture information; where p common is the pitch angle in the preset rearview mirror attitude information, y common is the yaw angle in the preset rearview mirror attitude information, r common It is the roll angle in the preset rearview mirror posture information.

[0122] 4. Prompt the user to try to use peripheral vision to observe the situation in front and to the side instead of relying entirely on the center of vision, slightly adjust the head posture, and record the maximum and minimum Euler angles of the driver's head at the extreme angles, which will be used as the preset head posture limit value for the driver to view the camera under normal driving conditions (p Hmin , p Hmax ), (y Hmin ,y Hmax ), (r Hmin , r Hmax )); where p Hmax Indicates the upper limit of the pitch angle in the preset head posture limit value, p Hmin Indicates the lower limit of the pitch angle in the preset head posture limit value, yHmax Indicates the upper limit of the yaw angle in the preset head posture limit value, y Hmin Represents the lower limit of the yaw angle in the preset head posture limit value, r Hmax Indicates the upper limit of the roll angle in the preset head posture limit value, r Hmin Indicates the lower limit of the roll angle in the preset head posture limit value.

[0123] 5. The driver selects the boundary of the rearview mirror posture information based on the vertical angle of the rearview mirror required for backing into a parking space, the vertical and horizontal angles of the rearview mirror required for parallel parking, and the horizontal angle of the rearview mirror required for ramp exchange rate flow. mirror ,y mirror , r mirror |p Mmax >p mirror >p Mmin ,y Mmax >y mirror >y Mmin , r Mmax >r mirror >r Mmin}, forming the preset rearview mirror attitude limit value of the rearview mirror; wherein, p Mmax Indicates the upper limit of the pitch angle adjustment in the preset rearview mirror attitude limit value, p Mmin Indicates the lower limit of the pitch angle adjustment in the preset rearview mirror attitude limit value, y Mmax Indicates the upper limit of the yaw angle adjustment in the preset rearview mirror attitude limit value, y Mmin Indicates the lower limit of the yaw angle adjustment in the preset rearview mirror attitude limit value, r Mmax Indicates the upper limit of the roll angle adjustment in the preset rearview mirror attitude limit value, r Mmin represents the lower limit of the roll angle adjustment in the preset rearview mirror attitude limit value, thereby forming the preset rearview mirror attitude limit value ((p Mmin , p Mmax ), (y Mmin ,y Mmax ), (r Mmin , r Mmax )).

[0124] Optionally, in a specific implementation, the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value are all expressed in Euler angles, and the Euler angles include a pitch angle, a yaw angle and a roll angle;

[0125] The above step 141 specifically includes step 1411:

[0126] Using the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information, and the preset head posture limit value as inputs of a preset formula, and obtaining the output of the preset formula to obtain the posture adjustment increment;

[0127] Wherein, the preset formula includes:

[0128]

[0129] Among them, Δp mirror , Δy mirror , Δr mirror They represent the pitch angle increment, yaw angle increment, and roll angle increment in the attitude adjustment increment, respectively. current ,y current ,r current ) is the Euler angle in the actual head posture information, is the Euler angle in the preset head posture information corresponding to the target rearview mirror, They respectively represent the pitch angle deviation value, yaw angle deviation value, and roll angle deviation value in the head posture deviation information, (p common ,y common ,r common ) is the Euler angle in the preset rearview mirror posture information corresponding to the target rearview mirror, ((p Hmin ,p Hmax ),(y Hmin ,y Hmax ),(r Hmin ,r Hmax )) is the Euler angle limit value in the preset head posture limit value corresponding to the target rearview mirror, ((p Mmin ,p Mmax ),(y Mmin ,y Mmax ),(r Mmin ,r Mmax )) is the Euler angle limit value in the preset rearview mirror attitude limit value corresponding to the target rearview mirror.

[0130] In this specific implementation, according to the above formula (2), based on the head posture deviation information, the preset head posture information corresponding to the target rearview mirror, the preset rearview mirror posture information, the pitch angle value in the preset rearview mirror posture limit value, and the pitch angle value in the preset head posture limit value, a pitch angle increment that can be used to linearly adjust the target rearview mirror can be determined, and then based on the pitch angle increment combined with the pitch angle in the preset rearview mirror posture information corresponding to the target rearview mirror, the target pitch angle in the target rearview mirror posture information is determined.

[0131] In this specific implementation, according to the above formula (3), based on the head posture deviation information, the preset head posture information corresponding to the target rearview mirror, the preset rearview mirror posture information, the yaw angle value in the preset rearview mirror posture limit value, and the yaw angle value in the preset head posture limit value, a yaw angle increment that can be used to linearly adjust the target rearview mirror can be determined, and then based on the yaw angle increment combined with the yaw angle in the preset rearview mirror posture information corresponding to the target rearview mirror, the target yaw angle in the target rearview mirror posture information can be determined.

[0132] In this specific implementation, according to the above formula (4), based on the head posture deviation information, the preset head posture information corresponding to the target rearview mirror, the preset rearview mirror posture information, the roll angle value in the preset rearview mirror posture limit value, and the roll angle value in the preset head posture limit value, a roll angle increment that can be used to linearly adjust the target rearview mirror can be determined, and then based on the roll angle increment combined with the roll angle in the preset rearview mirror posture information corresponding to the target rearview mirror, the target roll angle in the target rearview mirror posture information can be determined.

[0133] In this specific implementation, the target Euler angle in the target rearview mirror posture information can be determined based on the target pitch angle, target yaw angle and target roll angle.

[0134] Among them, the above-mentioned pitch angle increment formula, yaw angle increment formula and roll angle increment formula jointly describe the mapping relationship between the Euler angle increment of the target rearview mirror and the Euler angle corresponding to the actual head posture information, the Euler angle corresponding to the preset rearview mirror posture information of the target rearview mirror, the Euler angle corresponding to the preset rearview mirror posture limit value, the Euler angle corresponding to the preset head posture information, and the Euler angle corresponding to the preset head posture limit value.

[0135] The following is a further explanation using the pitch angle increment formula as an example:

[0136] If the pitch angle p in the driver's actual head posture information is current The pitch angle in the preset head posture information corresponding to the target rearview mirror Then the pitch angle increment Δp of the target rearview mirror is mirror =0, then the target pitch angle p of the target rearview mirror mirror =p common , is the pitch angle of the rearview mirror under normal circumstances.

[0137] If the pitch angle p in the driver's actual head posture information is current is the upper limit value p of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror Hmax , then according to The following formula of the pitch angle increment formula needs to be substituted into the calculation, and the pitch angle increment Δp of the target rearview mirror ismirror =p Mmax -p common , then the target pitch angle p of the target rearview mirror is mirror =p Mmax , is the upper limit value of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror.

[0138] If the pitch angle p in the driver's actual head posture information is current is the lower limit value p of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror Hmin , then according to The pitch angle increment formula above needs to be substituted into the calculation, and the pitch angle increment Δp of the target rearview mirror is mirror =p Mmin -p common , then the target pitch angle p of the rearview mirror is mirror =p Mmin , is the lower limit value of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror.

[0139] If the pitch angle p in the driver's actual head posture information is current Neither the lower limit of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror nor the upper limit of the pitch angle in the preset head posture limit value corresponding to the target rearview mirror, it is necessary to Is it greater than 0 to determine the rearview mirror angle at p common Based on the value, whether a value needs to be added or subtracted is determined according to the degree to which the current head pitch angle deviates from the pitch angle lower limit value in the preset head posture limit value or the pitch angle upper limit value in the preset head posture limit value.

[0140] Optionally, in one implementation, the rearview mirror adjustment method provided in the embodiment of the present invention further includes step 100 before the above step 101:

[0141] Step 100: upon receiving a first input for instructing to start adjusting a rearview mirror, executing a step of obtaining actual head posture information of the driver.

[0142] In this embodiment, the first input is to determine the operation of performing automatic adjustment of the rearview mirror, which can be specifically triggered by voice, gesture operation or touching the first preset control, and the above-mentioned first preset control can be a hardware switch or a software switch; therefore, when the above-mentioned first input is received, the in-vehicle camera is controlled to capture the image of the driving seat, so as to obtain the driver's actual head posture information, and then adaptively adjust the target rearview mirror based on the driver's actual head posture.

[0143] Optionally, in one implementation, the rearview mirror adjustment method provided in the embodiment of the present invention further includes step 105 after the above step 104:

[0144] 105. When a second input for instructing to stop adjusting the rearview mirror is received, restore the target rearview mirror to a state corresponding to the preset posture information.

[0145] In this embodiment, the second input is an operation to determine to exit the automatic adjustment of the rearview mirror, which can be triggered by voice, gesture operation or touching a second preset control. The second preset control can be a hardware switch or a software switch. Therefore, when the second input is received, the target rearview mirror is adjusted to the angle state corresponding to the preset posture to adapt to the driver's normal usage habits.

[0146] In actual applications, the first preset control and the second preset control may be the same preset control, and by touching the preset control, one can switch between executing automatic adjustment of the rearview mirror and exiting automatic adjustment of the rearview mirror.

[0147] Figure 2 is a schematic diagram of a rearview mirror adjustment device 20 provided in an embodiment of the present invention, the device comprising:

[0148] An acquisition module 21 is used to acquire the actual head posture information of the driver;

[0149] A first determination module 22 is used to determine the rearview mirror currently viewed by the driver as a target rearview mirror according to the actual head posture information and the preset head posture information corresponding to each rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror in a normal driving state;

[0150] A second determination module 23, configured to determine the driver's head posture deviation information according to the actual head posture information and the preset head posture information corresponding to the target rearview mirror;

[0151] The first adjustment module 24 is used to adjust the posture of the target rearview mirror according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

[0152] Optionally, in the rearview mirror adjustment device, the acquisition module 21 includes:

[0153] An acquisition unit, configured to acquire a current head depth image of the driver based on a depth image acquisition component; the head depth image carries depth information and pixel color information of the driver's head;

[0154] A first acquisition unit, configured to use the depth information and pixel color information carried by the head depth image as input of a head posture recognition model, and to acquire output information of the head posture recognition model;

[0155] The second acquisition unit is used to extract the head posture information included in the output information of the head posture recognition model as the actual head posture information.

[0156] Optionally, the acquisition module 21 further includes:

[0157] A second acquisition unit is used to acquire the current head depth image of the driver based on the depth image acquisition component; before the head depth image carries the depth information and pixel color information of the driver's head, acquire training sample data, the training sample data including feature information and label information of the sample head depth image; the label information includes the head posture information of the head in the sample head depth image, and the feature information includes the depth information and pixel color information carried by the sample head depth image;

[0158] The training unit is used to input the feature information and label information of the training sample data into the neural network model, and train the neural network model using a preset model training method to obtain the head posture recognition model.

[0159] Optionally, in the rearview mirror adjustment device, the neural network model is a single-stage target detection network model.

[0160] Optionally, in the rearview mirror adjustment device, the actual head posture information includes an actual head yaw angle, which is the current yaw angle of the driver's head, and the preset head posture information includes a preset head yaw angle, which is the yaw angle of the driver's head when checking the rearview mirror in the normal driving state;

[0161] The first determination module 22 includes:

[0162] A first determining unit is used to determine, for any of the rearview mirrors, an absolute difference between a preset head yaw angle corresponding to the rearview mirror and the actual head yaw angle as a target angle difference;

[0163] The second determination unit is used to determine the rearview mirror as the target rearview mirror when the target angle difference is less than a preset angle difference threshold.

[0164] Optionally, in the rearview mirror adjustment device, the actual head posture information, the preset posture information, and the preset head posture information are all expressed in Euler angles; each of the rearview mirrors includes a left rearview mirror and a right rearview mirror;

[0165] The first determination module 22 is specifically configured to determine the target rearview mirror according to the actual head yaw angle in the actual head posture information of the driver and the preset head yaw angle in the preset head information corresponding to each rearview mirror according to the following formula (1):

[0166]

[0167] Among them, M is the target rearview mirror, M Left and M Right They are the left and right rearview mirrors, y current is the actual head yaw angle of the driver, is the preset head yaw angle corresponding to the left rearview mirror, It is the preset head yaw angle corresponding to the right rearview mirror.

[0168] Optionally, in the rearview mirror adjustment device, the first adjustment module 24 includes:

[0169] A third determining unit is used to determine a posture adjustment increment for the target rearview mirror according to the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value;

[0170] The fourth determining unit is used to determine the target rearview mirror posture information for the target rearview mirror based on the preset rearview mirror posture information corresponding to the target rearview mirror and the posture adjustment increment.

[0171] An adjustment unit is used to adjust the posture of the target rearview mirror based on the target rearview mirror posture information.

[0172] Optionally, in the rearview mirror adjustment device, the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value are all expressed in Euler angles, and the Euler angles include pitch angle, yaw angle and roll angle;

[0173] a third determining unit, specifically configured to use the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information, and the preset head posture limit value as inputs of a preset formula, and obtain an output of the preset formula to obtain the posture adjustment increment;

[0174] Wherein, the preset formula includes:

[0175]

[0176]

[0177] Among them, Δp mirror , Δy mirror , Δr mirror They represent the pitch angle increment, yaw angle increment, and roll angle increment in the attitude adjustment increment, respectively. current ,y current ,r current ) is the Euler angle in the actual head posture information, is the Euler angle in the preset head posture information corresponding to the target rearview mirror, They respectively represent the pitch angle deviation value, yaw angle deviation value, and roll angle deviation value in the head posture deviation information, (p common ,y common ,r common ) is the Euler angle in the preset rearview mirror posture information corresponding to the target rearview mirror, ((p Hmin ,p Hmax ),(y Hmin ,y Hmax ),(r Hmin ,r Hmax )) is the Euler angle limit value in the preset head posture limit value corresponding to the target rearview mirror, ((p Mmin ,p Mmax ),(y Mmin ,y Mmax ),(r Mmin ,r Mmax )) is the Euler angle limit value in the preset rearview mirror attitude limit value corresponding to the target rearview mirror.

[0178] Optionally, the rearview mirror adjustment device further includes:

[0179] The execution module is used to execute the step of obtaining the actual head posture information of the driver before obtaining the actual head posture information of the driver, when receiving a first input for indicating to start adjusting the rearview mirror.

[0180] Optionally, the rearview mirror adjustment device further includes:

[0181] The second adjustment module is used to restore the target rearview mirror to a state corresponding to the preset posture information after adjusting the target rearview mirror and upon receiving a second input for instructing to stop adjusting the rearview mirror.

[0182] Optionally, in the rearview mirror adjustment device, each of the rearview mirrors is an electronic rearview mirror.

[0183] An embodiment of the present invention further provides a vehicle, the vehicle comprising a rearview mirror, and the vehicle further comprising the rearview mirror adjustment device as described above.

[0184] As for the above-mentioned device and vehicle embodiments, since they are basically similar to the rearview mirror adjustment method embodiments, the relevant parts may be referred to the partial description of the method embodiments.

[0185] The rearview mirror adjustment device and vehicle provided by the embodiments of the present invention determine head posture deviation information based on the driver's current head posture information and the preset head posture information of the target rearview mirror, and then adjust the rearview mirror accordingly based on the head posture deviation information; wherein, the current head posture information can reflect the head posture information of the current user viewing the target rearview mirror, and the preset head posture information of the target rearview mirror reflects the head posture information of viewing the target rearview mirror under normal driving conditions. Therefore, the head posture deviation information determined based on the two can reflect the user's head posture in special driving scenarios (for example, reversing into a garage, parallel parking). Accordingly, the rearview mirror is adjusted accordingly based on the head posture deviation information, which can effectively match the actual driving scenario while taking into account the driver's regular posture requirements for the rearview mirror, so as to observe the lane information farther to the side and rear, effectively avoid high-risk situations caused by failure to observe or adjusting the driver's body to observe the rearview mirror, and ensure the life safety of the driver.

[0186] The embodiment of the present invention further provides an electronic device, such as Figure 3 As shown, it includes a processor 301 , a communication interface 302 , a memory 303 and a communication bus 304 , wherein the processor 301 , the communication interface 302 , and the memory 303 communicate with each other via the communication bus 304 .

[0187] The memory 303 is used to store computer programs.

[0188] When the processor 301 is used to execute the program stored in the memory 303, the following steps are implemented:

[0189] Obtain the driver's actual head posture information;

[0190] According to the actual head posture information and the preset head posture information corresponding to each rearview mirror, the rearview mirror currently viewed by the driver is determined as the target rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror in a normal driving state;

[0191] Determining the head posture deviation information of the driver according to the actual head posture information and the preset head posture information corresponding to the target rearview mirror;

[0192] The posture of the target rearview mirror is adjusted according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

[0193] Among them, the processor 301 can also implement other steps in the above-mentioned vehicle interaction method, which will not be repeated here.

[0194] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0195] The communication interface is used for communication between the above electronic device and other devices.

[0196] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0197] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0198] In another embodiment of the present invention, a vehicle is provided. The vehicle includes the above-mentioned electronic device.

[0199] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the rearview mirror adjustment method described in the above embodiment.

[0200] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the rearview mirror adjustment method described in the above embodiment.

[0201] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0202] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0203] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0204] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A rearview mirror adjustment method, characterized in that: The method comprises: Obtain the driver's actual head posture information; According to the actual head posture information and the preset head posture information corresponding to each rearview mirror, the rearview mirror currently viewed by the driver is determined as the target rearview mirror; the preset head posture information is the head posture information when the driver views the rearview mirror in a normal driving state; Determining the head posture deviation information of the driver according to the actual head posture information and the preset head posture information corresponding to the target rearview mirror; The posture of the target rearview mirror is adjusted according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror; the preset rearview mirror posture information is the rearview mirror posture information of the rearview mirror under normal driving conditions.

2. The method according to claim 1, characterized in that The obtaining of the actual head posture information of the driver includes: Based on the depth image acquisition component, the current head depth image of the driver is acquired; the head depth image carries the depth information and pixel color information of the driver's head; Using the depth information and pixel color information carried by the head depth image as input of a head posture recognition model, and obtaining output information of the head posture recognition model; The head posture information included in the output information of the head posture recognition model is extracted as the actual head posture information.

3. The method according to claim 2, characterized in that The head posture recognition model is trained using the following method: Acquire training sample data, the training sample data including feature information and label information of a sample head depth image; the label information includes head posture information of the head in the sample head depth image, and the feature information includes depth information and pixel color information carried by the sample head depth image; The feature information and label information of the training sample data are input into a neural network model, and the neural network model is trained using a preset model training method to obtain the head posture recognition model.

4. The method according to claim 1, characterized in that: The actual head posture information includes an actual head yaw angle, which is the current yaw angle of the driver's head; the preset head posture information includes a preset head yaw angle, which is the yaw angle of the driver's head when he / she looks at the rearview mirror in the normal driving state; The method of determining the rearview mirror currently viewed by the driver as the target rearview mirror according to the actual head posture information and the preset head posture information corresponding to each rearview mirror includes: For any of the rearview mirrors, determining an absolute difference between a preset head yaw angle corresponding to the rearview mirror and the actual head yaw angle as a target angle difference; When the target angle difference is less than a preset angle difference threshold, the rearview mirror is determined as the target rearview mirror.

5. The method according to claim 1, characterized in that The step of adjusting the posture of the target rearview mirror according to the head posture deviation information and the preset rearview mirror posture information corresponding to the target rearview mirror comprises: Determine a posture adjustment increment for the target rearview mirror according to the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value; Determining target rearview mirror posture information for the target rearview mirror based on the preset rearview mirror posture information corresponding to the target rearview mirror and the posture adjustment increment; Based on the target rearview mirror posture information, the posture of the target rearview mirror is adjusted.

6. The method according to claim 5, characterized in that The head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value are all expressed in Euler angles, and the Euler angles include pitch angle, yaw angle and roll angle; The step of determining a posture adjustment increment for the target rearview mirror according to the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information and the preset head posture limit value comprises: Using the head posture deviation information, the preset rearview mirror posture information corresponding to the target rearview mirror, the preset rearview mirror posture limit value, the preset head posture information, and the preset head posture limit value as inputs of a preset formula, and obtaining the output of the preset formula to obtain the posture adjustment increment; Wherein, the preset formula includes: Among them, Δp mirror , Δy mirror , Δr mirror They represent the pitch angle increment, yaw angle increment, and roll angle increment in the attitude adjustment increment, respectively. current ,y current ,r current ) is the Euler angle in the actual head posture information, is the Euler angle in the preset head posture information corresponding to the target rearview mirror, They respectively represent the pitch angle deviation value, yaw angle deviation value, and roll angle deviation value in the head posture deviation information, (p common ,y common ,r common ) is the Euler angle in the preset rearview mirror posture information corresponding to the target rearview mirror, ((p Hmin ,p Hmax ),(y Hmin ,y Hmax ),(r Hmin ,r hmax )) is the Euler angle limit value in the preset head posture limit value corresponding to the target rearview mirror, ((p Mmin ,p Mmax ),(y Mmin ,y Mmax ),(r Mmin ,r Mmax )) is the Euler angle limit value in the preset rearview mirror attitude limit value corresponding to the target rearview mirror.

7. The method according to any one of claims 1 to 6, characterized in that: Before obtaining the actual head posture information of the driver, the method further includes: Upon receiving a first input for instructing to start adjusting the rearview mirror, executing a step of acquiring actual head posture information of the driver; and / or After adjusting the target rearview mirror, the method further comprises: When a second input for instructing to stop adjusting the rearview mirror is received, the target rearview mirror is restored to a state corresponding to the preset posture information.

8. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the steps in the rearview mirror adjustment method as described in any one of claims 1 to 7 when executing the program stored in the memory.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the rearview mirror adjustment method according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: The vehicle comprises a rearview mirror, and the vehicle comprises the electronic device as claimed in claim 8.

Images