Vehicle control method based on electronic rearview mirror double-screen joint control

Abstract

The invention discloses a vehicle control method based on electronic rearview mirror double-screen joint control, belongs to the technical field of vehicle control, and aims to solve the problem that the driving risk is increased to a certain extent due to the fact that proper lane changing opportunity and speed are selected by depending on own experience and judgment. The vehicle control method based on electronic rearview mirror double-screen joint control comprises the following steps that a driver makes an instruction that a lane needs to be changed, a left camera, a right camera and a panoramic camera are used for collecting images of the two sides and the rear portion of a vehicle, a controller processes and analyzes the collected images, and the distance between the vehicle behind the vehicle and the distance between the vehicle on the left side and the vehicle on the right side of the vehicle are obtained; if the driver still has the lane changing intention, the vehicle lane changing operation continues to be executed; through the double-screen joint control function of the electronic rearview mirror, comprehensive monitoring on the two sides and the rear portion of a vehicle is achieved, and the view field range of a driver is widened; meanwhile, the optimal lane changing speed and position are calculated, and visual lane changing suggestions are provided for drivers.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle control, and in particular relates to a vehicle control method based on dual-screen joint control of an electronic rearview mirror. Background Art

[0002] With the continuous advancement of automotive electronic technology, electronic rearview mirrors have gradually replaced traditional glass rearview mirrors and become an important safety configuration for modern cars. Electronic rearview mirrors use the rear camera of the vehicle to capture the scene behind the vehicle in real time and present it on the rearview mirror display screen without loss or delay. This technology not only improves the driver's field of vision, but also enhances driving safety at night or in bad weather conditions. Based on the electronic rearview mirror technology, dual-screen joint control technology has been introduced to achieve more intelligent vehicle control. Dual-screen joint control technology refers to the use of two display screens, usually the linkage control of the left and right electronic rearview mirrors, to provide the driver with more comprehensive and intuitive information about the vehicle's surroundings. This technology not only improves the convenience of driving, but also further enhances driving safety.

[0003] Although electronic rearview mirrors and dual-screen joint control technology have made significant progress, existing technologies still have some limitations. Traditional electronic rearview mirrors can usually only display the vehicle status in a single field of view. When the driver needs to change lanes, after observing the electronic rearview mirror, he still needs to rely on his own experience and judgment to choose the appropriate time and speed to change lanes, which increases driving risks to a certain extent.

[0004] Therefore, a vehicle control method based on dual-screen joint control of an electronic rearview mirror is needed to solve the problem in the prior art that the driver needs to rely on his or her own experience and judgment to choose the appropriate time and speed for changing lanes, which increases the driving risk to a certain extent. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle control method based on dual-screen joint control of an electronic rearview mirror to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a vehicle control method based on dual-screen joint control of an electronic rearview mirror, wherein the electronic rearview mirror includes left and right side cameras, a panoramic camera, a display screen and a controller, and the vehicle control method based on dual-screen joint control of an electronic rearview mirror includes the following steps:

[0007] The driver issues an instruction to change lanes;

[0008] Use left and right side cameras and panoramic cameras to collect images of both sides and rear of the vehicle;

[0009] The controller processes and analyzes the collected images to obtain the distances to the vehicle behind the vehicle and the vehicles on the left and right sides of the vehicle;

[0010] Calculate the best lane-changing speed and best lane-changing position according to the current vehicle speed, vehicle distance conditions and the speed of the vehicle behind;

[0011] Send the best lane change speed and best lane change position to the electronic rearview mirror display;

[0012] Continuously monitor whether the vehicle has completed the lane change. If the lane change is completed, the calculation ends; if the driver still intends to change lanes, the vehicle lane change operation continues.

[0013] It should be noted in the solution that the left and right side cameras are used to obtain images of the surrounding environment on the left and right sides of the vehicle, the panoramic camera is used to obtain images of the side and rear environment of the vehicle, and the display screen is divided into two left and right screens, each of which is divided into two upper and lower display areas for displaying images and intelligent reminder information.

[0014] It is further worth mentioning that the controller includes an image processing module, a data analysis module, a monitoring module, a calculation module and a notification module. As the core of the system, it is responsible for receiving images captured by the camera, processing and analyzing them, and sending the resulting information to the display screen to facilitate the driver to make judgments.

[0015] It should be further explained that the image processing module pre-processes the collected images, including denoising, contrast enhancement, etc., to improve image quality. The data analysis module further analyzes the processed images. Through the image recognition algorithm, the system can identify vehicles behind the vehicle and on the left and right sides, and calculate their distance from the current vehicle and the driving speed of the rear vehicle.

[0016] As a preferred implementation, the calculation module is used to calculate the optimal lane changing speed and the optimal lane changing position, and calculates the optimal lane changing speed and position using a preset algorithm according to the current vehicle speed, the distance to surrounding vehicles and the driving speed of the rear vehicle.

[0017] As a preferred implementation, the monitoring module monitors the operation of the vehicle in real time, determines whether the vehicle responds, and continuously monitors the driving status of the vehicle, including speed, direction, etc. Once it is detected that the vehicle has successfully completed the lane change, the system will automatically end the lane change assist mode. If the driver still intends to change lanes during the lane change process, the system will continue to execute the vehicle lane change operation.

[0018] As a preferred implementation, the notification module sends the calculated optimal lane change speed and optimal lane change position to the electronic rearview mirror display screen, and the display screen displays information in an intuitive manner such as arrows, numbers, etc., so that the driver can quickly understand and respond.

[0019] As a preferred implementation, the calculation formula for calculating the optimal lane change speed is:

[0020]

[0021] Among them, V change The lane change speed allows the driver to maintain a safe distance during the lane change and be able to slow down when necessary.

[0022] ΔD is the additional safety distance, which is the extra distance reserved to deal with uncertainty and error. It can ensure that the driver has enough time and space to respond in an emergency. ΔD = D safe ×10%,D safe It is the safe distance that the own vehicle and the target vehicle should maintain.

[0023] t change It is the time required for lane change, including driver reaction time, observation time, vehicle operation time, etc. This time can be estimated based on experience or experimental data and set as a fixed value.

[0024] Among them, the safety distance D safe The calculation method is:

[0025] D safe =t react ×max(V curr ,V target )+braking distance

[0026] Among them, V curr is the current speed of the vehicle,

[0027] V target is the speed of the vehicle in the target lane,

[0028] D safe is the safe distance between the own vehicle and the target vehicle.

[0029] t react The driver's reaction time is the time from when the driver discovers the information displayed on the electronic rearview mirror to when he takes lane change measures. It is set to a fixed value.

[0030] The braking distance can be determined based on the vehicle's performance and road conditions.

[0031] As a preferred implementation, the calculation formula for calculating the optimal lane change position is:

[0032]

[0033] S changeis the optimal lane changing position, which is the lane changing starting point of the lane where the vehicle is located.

[0034] The use process of the above-mentioned vehicle control method based on the dual-screen joint control of the electronic rearview mirror is as follows:

[0035] Step 1: The driver issues a lane change intention instruction, that is, sends a lane change instruction to the vehicle control system through a button on the steering wheel, a voice control system or a touch screen;

[0036] Step 2: The left and right cameras and the panoramic camera collect image information on both sides and the rear of the vehicle in real time, and the image information is transmitted to the controller inside the vehicle;

[0037] Step 3: The image processing module pre-processes the received image, including denoising, contrast enhancement, etc., to improve image quality;

[0038] Step 4: The data analysis module analyzes the processed image. Using the image recognition algorithm, the system identifies the vehicles behind the vehicle and on the left and right sides, calculates their distance from the current vehicle, and analyzes the speed of the rear vehicle.

[0039] Step 5: The calculation module calculates the optimal lane change speed and position using a preset algorithm based on the current vehicle speed, the distance to surrounding vehicles, and the speed of the vehicle behind;

[0040] Step 6: The notification module sends the calculated optimal lane change speed and position to the electronic rearview mirror display screen, which displays this information in an intuitive way so that the driver can quickly understand and respond;

[0041] Step 7: After confirming that the surrounding environment is safe, the driver changes lanes according to the suggestions on the display screen;

[0042] Step 8: When the monitoring module detects that the vehicle has successfully completed the lane change, the lane change suggestion information on the display screen will disappear accordingly; if the driver still intends to change lanes during the lane change process (such as failing to change lanes successfully or needing to change lanes again), the vehicle lane change operation will continue and corresponding lane change suggestions will be provided on the display screen to ensure the driver's safety during the lane change process.

[0043] Compared with the prior art, the vehicle control method based on the electronic rearview mirror dual-screen joint control provided by the present invention has at least the following beneficial effects:

[0044] The dual-screen joint control function of the electronic rearview mirror achieves comprehensive monitoring of both sides and the rear of the vehicle, improving the driver's field of vision. At the same time, the image processing technology and algorithm model are used to process and analyze the collected image information to obtain comprehensive information about the vehicle's surroundings. The optimal lane-changing speed and position are calculated based on the current vehicle speed, vehicle distance conditions, and the speed of the vehicle behind, providing the driver with intuitive lane-changing suggestions. By providing the best lane-changing suggestions, the driver's risks during the lane-changing process are reduced, improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of the vehicle control method of the present invention;

[0046] Figure 2 It is a structural block diagram of the vehicle control system of the present invention. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the embodiments.

[0048] Reference Figure 1 As shown, the present invention provides a vehicle control method based on dual-screen joint control of an electronic rearview mirror, wherein the electronic rearview mirror includes left and right side cameras, a panoramic camera, a display screen, and a controller. The vehicle control method based on dual-screen joint control of an electronic rearview mirror includes the following steps:

[0049] The driver issues an instruction to change lanes;

[0050] Use left and right side cameras and panoramic cameras to collect images of both sides and rear of the vehicle;

[0051] The controller processes and analyzes the collected images to obtain the distances to the vehicle behind the vehicle and the vehicles on the left and right sides of the vehicle;

[0052] Calculate the best lane-changing speed and best lane-changing position according to the current vehicle speed, vehicle distance conditions and the speed of the vehicle behind;

[0053] Send the best lane change speed and best lane change position to the electronic rearview mirror display;

[0054] Continuously monitor whether the vehicle has completed the lane change. If the lane change is completed, the calculation ends; if the driver still intends to change lanes, the vehicle lane change operation continues.

[0055] It can be understood that the left and right side cameras are used to obtain images of the surrounding environment on the left and right sides of the vehicle, and the panoramic camera is used to obtain images of the side and rear environment of the vehicle. The display screen is divided into two left and right screens, and each screen is divided into two upper and lower display areas for displaying images and intelligent reminder information.

[0056] Reference Figure 2 As shown, the controller includes an image processing module, a data analysis module, a calculation module, a monitoring module and a notification module. As the core of the system, it is responsible for receiving the images captured by the camera, processing and analyzing them, and sending the resulting information to the display screen to facilitate the driver to make judgments.

[0057] Reference Figure 2 As shown, the image processing module pre-processes the collected images, including denoising, contrast enhancement, etc., to improve image quality; the data analysis module further analyzes the processed images. Through the image recognition algorithm, the system can identify the vehicles behind the vehicle and on the left and right sides, and calculate their distance from the current vehicle and the driving speed of the rear vehicle.

[0058] In the prior art, vehicle detection usually uses convolutional neural network (CNN) algorithms, which can extract features from images and automatically learn to distinguish vehicles from other objects. By training on a large number of vehicle images, these algorithms can accurately identify the vehicles in the image and give the vehicle's location information. After identifying the vehicle, the system needs to calculate the distance between these vehicles and the current vehicle. This is usually achieved through the proportional relationship in the image. The system will first determine the fixed distance between the camera and the ground (i.e. the focal length and installation height of the camera, etc.), and then calculate the proportional relationship between the size and position of the vehicle in the image and the actual distance, thereby obtaining the actual distance between the vehicle and the current vehicle.

[0059] The system usually estimates the speed of the vehicle behind by using the changes between consecutive frame images; by analyzing the position changes of the vehicle in consecutive frame images, the system can calculate the moving speed and direction of the vehicle. This requires the use of algorithms such as the optical flow method and the frame difference method in image processing.

[0060] It can be understood that the calculation module is used to calculate the optimal lane change speed and the optimal lane change position, and calculates the optimal lane change speed and position using a preset algorithm based on the current vehicle speed, the distance to surrounding vehicles and the driving speed of the rear vehicle.

[0061] It can be understood that the monitoring module monitors the vehicle's operation in real time, determines whether the vehicle responds, and continuously monitors the vehicle's driving status, including speed, direction, etc. Once it is detected that the vehicle has successfully completed the lane change, the system will automatically end the lane change assist mode. If the driver still intends to change lanes during the lane change process, the system will continue to execute the vehicle's lane change operation.

[0062] The monitoring module collects the vehicle's operating data in real time through sensors, cameras and other hardware devices, such as steering wheel rotation angle, accelerator pedal position, brake pedal position, etc. These data are used to determine the driver's driving intention and the actual operating status of the vehicle. In addition to vehicle operation, the monitoring module also continuously monitors the vehicle's driving status, including key parameters such as speed, direction, and acceleration.

[0063] It is understandable that the notification module sends the calculated optimal lane change speed and optimal lane change position to the electronic rearview mirror display screen, and the display screen displays information in an intuitive manner such as arrows, numbers, etc., so that the driver can quickly understand and respond.

[0064] It can be understood that the calculation formula for calculating the optimal lane change speed is:

[0065]

[0066] Among them, V change The lane change speed allows the driver to maintain a safe distance during the lane change and be able to slow down when necessary.

[0067] ΔD is the additional safety distance, which is the extra distance reserved to deal with uncertainty and error. It can ensure that the driver has enough time and space to respond in an emergency. ΔD = D safe ×10%,D safe is the safe distance between the own vehicle and the target vehicle.

[0068] t change The time required for lane change, including driver reaction time, observation time, vehicle control time, etc. This time can be estimated based on experience or experimental data and set as a constant.

[0069] Among them, the safety distance D safe The calculation method is:

[0070] D safe =t react ×max(V curr ,V target )+braking distance

[0071] Among them, V curr is the current speed of the vehicle,

[0072] V target is the speed of the vehicle in the target lane,

[0073] D safe is the safe distance between the own vehicle and the target vehicle.

[0074] t reactThe driver's reaction time is the time from when the driver discovers the information displayed on the electronic rearview mirror to when he takes lane change measures. It is set to a fixed value.

[0075] The braking distance can be determined based on the vehicle's performance and road conditions.

[0076] It can be understood that the calculation formula for calculating the optimal lane change position is:

[0077]

[0078] S change is the optimal lane changing position, which is the lane changing starting point of the lane where the vehicle is located.

[0079] The use process of the above-mentioned vehicle control method based on the dual-screen joint control of the electronic rearview mirror is as follows:

[0080] Step 1: The driver issues a lane change intention instruction, that is, sends a lane change instruction to the vehicle control system through a button on the steering wheel, a voice control system or a touch screen;

[0081] Step 2: The left and right cameras and the panoramic camera collect image information on both sides and the rear of the vehicle in real time, and the image information is transmitted to the controller inside the vehicle;

[0082] Step 3: The image processing module pre-processes the received image, including denoising, contrast enhancement, etc., to improve image quality;

[0083] Step 4: The data analysis module analyzes the processed image. Using the image recognition algorithm, the system identifies the vehicles behind the vehicle and on the left and right sides, calculates their distance from the current vehicle, and analyzes the speed of the rear vehicle.

[0084] Step 5: The calculation module calculates the optimal lane change speed and position using a preset algorithm based on the current vehicle speed, the distance to surrounding vehicles, and the speed of the vehicle behind;

[0085] Step 6: The notification module sends the calculated optimal lane change speed and position to the electronic rearview mirror display screen, which displays this information in an intuitive way so that the driver can quickly understand and respond;

[0086] Step 7: After confirming that the surrounding environment is safe, the driver changes lanes according to the suggestions on the display screen;

[0087] Step 8: When the monitoring module detects that the vehicle has successfully completed the lane change, the lane change suggestion information on the display screen will disappear accordingly; if the driver still intends to change lanes during the lane change process (such as failing to change lanes successfully or needing to change lanes again), the vehicle lane change operation will continue and corresponding lane change suggestions will be provided on the display screen to ensure the driver's safety during the lane change process.

[0088] In summary, the advantages of the present invention are: through the dual-screen joint control function of the electronic rearview mirror, comprehensive monitoring of both sides and the rear of the vehicle is achieved, and the driver's field of vision is improved; at the same time, the image processing technology and algorithm model are used to process and analyze the collected image information to obtain comprehensive information about the vehicle's surroundings, and then according to the current vehicle speed, vehicle distance conditions and the driving speed of the rear vehicle, the optimal lane change speed and position are calculated to provide the driver with intuitive lane change suggestions; by providing the best lane change suggestions, the driver's risks in the lane change process are reduced and driving safety is improved.

[0089] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A vehicle control method based on dual-screen joint control of electronic rearview mirrors, characterized in that: The electronic rearview mirror includes left and right side cameras, a panoramic camera, a display screen and a controller. The vehicle control method based on the electronic rearview mirror dual-screen joint control includes the following steps: The driver issues an instruction to change lanes; Use left and right side cameras and panoramic cameras to collect images of both sides and rear of the vehicle; The controller processes and analyzes the collected images to obtain the distances to the vehicle behind the vehicle and the vehicles on the left and right sides of the vehicle; Calculate the best lane-changing speed and best lane-changing position according to the current vehicle speed, vehicle distance conditions and the speed of the vehicle behind; Send the best lane change speed and best lane change position to the electronic rearview mirror display; Continuous monitoring, if the lane change is completed, the calculation ends; if the driver still intends to change lanes, the vehicle continues to change lanes.

2. A vehicle control method based on dual-screen joint control of electronic rearview mirror according to claim 1, characterized in that: The left and right side cameras are used to obtain images of the surrounding environment on the left and right sides of the vehicle, and the panoramic camera is used to obtain images of the side and rear environment of the vehicle. The display screen is divided into two left and right screens, and each screen is divided into two upper and lower display areas for displaying images and intelligent reminder information.

3. The vehicle control method based on dual-screen joint control of electronic rearview mirror according to claim 1 is characterized in that: The controller includes an image processing module, a data analysis module, a monitoring module, a calculation module and a notification module. As the core of the system, it is responsible for receiving images captured by the camera, processing and analyzing them, calculating the optimal lane change parameters, and sending the resulting information to the display screen to facilitate the driver to make judgments.

4. A vehicle control method based on dual-screen joint control of electronic rearview mirrors according to claim 3, characterized in that: The image processing module pre-processes the collected images, including denoising, contrast enhancement, etc., to improve image quality. The data analysis module further analyzes the processed images. Through the image recognition algorithm, the system can identify vehicles behind the vehicle and on the left and right sides, and calculate their distance from the current vehicle and the driving speed of the rear vehicle.

5. The vehicle control method based on electronic rearview mirror dual-screen joint control according to claim 3 is characterized in that: The calculation module is used to calculate the optimal lane-changing speed and the optimal lane-changing position. The optimal lane-changing speed and position are calculated using a preset algorithm according to the current vehicle speed, the distance to surrounding vehicles, and the driving speed of the rear vehicle.

6. The vehicle control method based on dual-screen joint control of electronic rearview mirror according to claim 3 is characterized in that: The monitoring module monitors the vehicle's operation in real time, determines whether the vehicle responds, and continuously monitors the vehicle's driving status, including speed, direction, etc. Once it is detected that the vehicle has successfully completed the lane change, the system will automatically end the lane change assist mode. If the driver still intends to change lanes during the lane change process, the system will continue to execute the vehicle's lane change operation.

7. The vehicle control method based on dual-screen joint control of electronic rearview mirror according to claim 3 is characterized in that: The notification module sends the calculated optimal lane change speed and optimal lane change position to the electronic rearview mirror display screen, and the display screen displays information in an intuitive manner such as arrows, numbers, etc., so that the driver can quickly understand and respond.

8. A vehicle control method based on electronic rearview mirror dual-screen joint control according to claim 7, characterized in that: The calculation formula for calculating the optimal lane change speed is: Among them, V change The lane change speed allows the driver to maintain a safe distance during the lane change and be able to slow down when necessary. ΔD is the additional safety distance, which is the extra distance reserved to deal with uncertainty and error. It can ensure that the driver has enough time and space to respond in an emergency. ΔD = D safe ×10%,D safe is the safe distance between the own vehicle and the target vehicle. t change The time required for lane change, including driver reaction time, observation time, vehicle control time, etc. This time can be estimated based on experience or experimental data and set as a constant. Among them, the safety distance D safe The calculation method is: D safe =t react ×max(V curr ,V target )+braking distance Among them, V curr is the current speed of the vehicle, V target is the speed of the vehicle in the target lane, D safe is the safe distance between the own vehicle and the target vehicle. t react The driver's reaction time is the time from when the driver discovers the information displayed on the electronic rearview mirror to when he takes lane change measures. It is set to a fixed value. The braking distance can be determined based on the vehicle's performance and road conditions.

9. A vehicle control method based on electronic rearview mirror dual-screen joint control according to claim 8, characterized in that: The calculation formula for calculating the optimal lane change position is: S change is the optimal lane changing position, which is the lane changing starting point of the lane where the vehicle is located.

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