Intelligent system capable of automatically adjusting position of rearview mirror

Abstract

The invention provides an intelligent system for automatically adjusting the position of a rearview mirror. The intelligent system comprises a vertical adjusting device and a horizontal adjusting device. The range proportion of the sky and the ground in the rearview mirror is known, after the vertical adjusting device obtains the positions of human eyes through the data acquisition module, the rotating angle of the rearview mirror in the vertical direction can be obtained only through the calculation module, and the purpose of automatic vertical adjustment is achieved. A reference line is set according to the range proportion of a known automobile body in the rearview mirror, a known point G capable of representing the outermost contour of the automobile body is found on the automobile body by the horizontal adjusting device, and a camera sensitive to infrared rays and an infrared ray emitting device are arranged at the point G. An infrared ray emitted from the G point always falls on the reference line, the camera located at the G point takes a picture towards the rearview mirror, the horizontal rotation direction is judged according to the relation of the human eye image, the original point of the coordinate axis and the reference line, and the purpose of automatic horizontal adjustment is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of automobiles, and in particular to an intelligent system capable of automatically adjusting the position of a rearview mirror. Background Art

[0002] With the development of hardware intelligence and network intelligence, cockpits are becoming more and more convenient and technological; however, the adjustment of rearview mirrors still requires manual adjustment, and the adjustment process is tedious and troublesome. When a driver gets a new car or a car that has been used by someone else, he often needs to adjust the rearview mirror. If it is a new car, you need to find the position of the rearview mirror adjuster and learn how to adjust it. This process is often time-consuming and cumbersome. If it is a novice driver, he may not even know what position to adjust the rearview mirror to for better driving.

[0003] In view of the above problems, the inventors of the present invention finally obtained the present invention after a long period of research and practice. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an intelligent, convenient and automated rearview mirror adjustment system, which automatically completes the angle position adjustment of the rearview mirror after the driver gets in the car and sits down.

[0005] The technical solution adopted by the present invention is:

[0006] Provided is an intelligent system for automatically adjusting the position of a rearview mirror, comprising a trigger device, a vertical adjustment device and a horizontal adjustment device;

[0007] The trigger device is used to start the vertical adjustment device and the horizontal adjustment device;

[0008] The vertical adjustment device comprises a first data storage module, a data acquisition module, a first calculation module and a vertical rotation control module; the first data storage module is used to store expected vertical field of view data; the data acquisition module is used to obtain the spatial position of the driver's eyes and the angle of the current rearview mirror position relative to the vertical direction; the first calculation module is used to calculate the expected angle of the rearview mirror based on the vertical direction according to the data stored and acquired in the first data storage module and the data acquisition module; the vertical rotation control module is used to control the rearview mirror to rotate in the vertical direction according to the expected angle;

[0009] The horizontal adjustment device includes a second data storage module, an image acquisition module, a second calculation module and a horizontal rotation control module; the second data storage module is used to store expected horizontal field of view data; the image acquisition module is used to collect pictures containing horizontal field of view features on the rearview mirror; the second calculation module is used to extract the field of view features in the picture, and determine the optimal horizontal field of view position and / or horizontal adjustment rotation direction based on the field of view features and the horizontal field of view data; the horizontal rotation control module is used to control the rearview mirror to rotate in the horizontal direction based on the determination of the second calculation module.

[0010] Furthermore, the intelligent system further includes a memory module and a user identification module, wherein the user identification module is used to identify the user in the driving seat, and the memory module is used to record the final position information of the rearview mirror corresponding to the user;

[0011] When the user identified by the user identification module has corresponding final position information of the rearview mirror in the memory module, the vertical adjustment device and the horizontal adjustment device can adjust the rearview mirror according to the final position information.

[0012] Furthermore, the vertical adjustment device and the horizontal adjustment device may share the same data storage module, that is, the first data storage module and the second data storage module are the same data storage module for storing expected vertical field of view data and expected horizontal field of view data.

[0013] Furthermore, the user identification module is an account system or a biometric identification system.

[0014] Furthermore, the expected vertical field of view data includes the expected range proportion of the sky and the ground in the field of view in the rearview mirror, and the expected horizontal field of view data includes the expected range proportion of the vehicle body in the field of view in the rearview mirror.

[0015] Furthermore, the expected range proportion of the sky and the ground in the rearview mirror is represented by the expected position of the horizon on the rearview mirror; the expected range proportion of the vehicle body in the rearview mirror is represented by a vertical reference line at the expected position on the rearview mirror.

[0016] Furthermore, the calculation of the first calculation module is based on: when the line connecting the image of the human eye on the rearview mirror surface and the expected position of the horizon on the mirror surface is parallel to the ground plane, the human eye can just see the horizon at the expected position of the mirror surface; at the same time, the angle formed by the line connecting the expected position and the eye and the horizon is twice the angle between the rearview mirror surface and the vertical direction.

[0017] Furthermore, the image acquisition module includes an infrared-sensitive camera and an infrared emitting device installed at point G of the vehicle body, point G being a known point on the vehicle body that can represent the outermost contour of the vehicle body, and the infrared rays emitted by the infrared emitting device always fall on the vertical reference line. The camera is used to capture the image formed in the rearview mirror when looking from point G to the rearview mirror, and transmit the captured image to the second computing module.

[0018] Furthermore, the infrared emitting device can fine-tune the infrared emitting angle according to the rotation of the rearview mirror surface to ensure that the infrared ray always shines on the vertical reference line after the mirror surface rotates.

[0019] Furthermore, the second computing module performs image recognition in the following manner:

[0020] The image is processed in grayscale, and the position of the human eye in the image is extracted through contour and grayscale value recognition;

[0021] The position of the infrared light spot in the image is extracted by grayscale value comparison, and the vertical line where the light spot is located is the position of the vertical reference line.

[0022] Furthermore, the second calculation module performs a determination method as follows:

[0023] Determining whether the position of the human eye in the image is on the vertical reference line;

[0024] If the position of the human eye in the picture is on the vertical reference line, the horizontal angle of the rearview mirror is appropriate and there is no need to rotate the rearview mirror horizontally;

[0025] If the position of the human eye in the picture is not on the vertical reference line, and the position of the human eye in the picture and the rotation center of the rearview mirror are not on the same side of the vertical reference line, it is determined that the rearview mirror is horizontally rotated toward the driver's seat until the position of the human eye in the picture just falls on the vertical reference line;

[0026] If the position of the human eye in the picture is not on the vertical reference line, and the position of the human eye in the picture and the rotation center of the rearview mirror are on the same side of the vertical reference line, it is determined that the rearview mirror is rotated horizontally in a direction away from the driver until the position of the human eye in the picture just falls on the vertical reference line.

[0027] Furthermore, when the second calculation module makes a judgment based on the left rearview mirror, the position of the human eye in the picture is the position of the left eye in the picture; when the second calculation module makes a judgment based on the right rearview mirror, the position of the human eye in the picture is the position of the right eye in the picture.

[0028] Furthermore, the trigger device determines through gravity sensing whether someone is sitting in the driver's seat, and after detecting that the seat position is adjusted and the seat belt is buckled in place, it starts the vertical adjustment device and the horizontal adjustment device.

[0029] Furthermore, the trigger device actively starts the vertical adjustment device and the horizontal adjustment device by means of voice commands.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. Convenience: Through scientific calculation methods, the rearview mirror position that is more suitable for the user's driving operation can be calculated, which greatly reduces the user's operational cognition for rearview mirror adjustment;

[0032] 2. Accuracy: Through camera imaging recognition and human eye spatial positioning, the user's visible rearview mirror range can be more accurately estimated. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic diagram of the mirror imaging principle of the human eye is shown;

[0035] Figure 2 A diagram showing a spatial coordinate system of a rearview mirror according to an embodiment of the present invention;

[0036] Figure 3 A schematic diagram showing the calculation principle of the vertical rotation adjustment of the rearview mirror according to an embodiment of the present invention is shown;

[0037] Figure 4 A schematic diagram showing the calculation principle of the horizontal rotation adjustment of the rearview mirror according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0038] The above and other technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings.

[0039] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "vertical", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly defined and specified, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The invention provides an intelligent system for automatically adjusting the position of a rearview mirror, which comprises a vertical adjustment device and a horizontal adjustment device.

[0043] The vertical angle algorithm used by the vertical adjustment device is derived from the perspective principle: when the line connecting the image of the human eye on the mirror and the target position of the horizon on the mirror is parallel to the ground plane, the human eye can just see the horizon at the target position of the mirror. At the same time, the angle formed by the line connecting the target position with the eye and the horizon is twice the angle between the mirror and the vertical direction. Therefore, after obtaining the position of the human eye, it is only necessary to calculate the angle that the rearview mirror needs to rotate in the vertical direction to achieve the purpose of automatic adjustment.

[0044] The horizontal angle algorithm used by the level adjustment device is to find a known point G on the body that can represent the outermost contour of the body and the target position of the image of point G on the mirror surface (a vertical line at a specific position on the mirror surface, hereinafter referred to as the reference line). Both positions are known. Since the reference line is close to the inside of the rearview mirror, according to field tests, the position seen by both eyes on the left rearview mirror is basically the same as the position seen by the left eye, and on the right rearview mirror, it is basically the same as the position seen by the right eye. Therefore, it is only necessary to adjust the horizontal rearview mirror angle according to the monocular field of view.

[0045] An infrared ray is emitted from point G. If this ray is reflected by the mirror and falls on the driver's left eye, then the reflection point of this ray on the mirror can represent the position of point G seen by the human eye on the mirror. It can also represent the position of the image of the human eye seen at point G on the mirror.

[0046] After the camera at point G takes a picture of the rearview mirror, it will record the position of the infrared light spot and the human eye. The vertical line where the infrared light spot is located is the reference line we define. If the human eye is on the reference line, it means that the rearview mirror has achieved the best field of view in the horizontal direction. If it is not on the reference line, the direction of rotation will be determined based on the relationship between the image of the human eye, the origin of the coordinate axis, and the reference line.

[0047] In a specific embodiment, the intelligent system for automatically adjusting the position of the rearview mirror includes a trigger device, a vertical adjustment device and a horizontal adjustment device. The vertical adjustment device is used to calculate and control the rotation angle in the vertical direction, and the horizontal adjustment device is used to calculate and control the rotation angle in the horizontal direction. The vertical adjustment device includes a first data storage module, a data acquisition module, a first calculation module and a vertical rotation control module. The horizontal adjustment device includes a second data storage module, an image acquisition module, a second calculation module and a horizontal rotation control module.

[0048] The trigger device includes two trigger strategies. Strategy 1 uses the gravity sensor to sense when someone is sitting down, and detects that the seat position has been adjusted. After the seat belt is buckled in place, it will automatically obtain data and calculate and adjust. Strategy 2 can also be used to actively trigger the adjustment through voice commands. If no human eyes are detected, the system will voice prompt "Please adjust the rearview mirror after sitting down."

[0049] The first data storage module is used to store expected vertical field of view data. The vertical field of view mainly refers to the proportion of the sky and ground in the rearview mirror. This proportion can be represented by the expected position of the horizon on the rearview mirror. The second data storage module is used to store expected horizontal field of view data. The horizontal field of view mainly refers to the proportion of the vehicle body in the rearview mirror. This proportion can be represented by the expected position of a known point G on the vehicle body on the rearview mirror. The expected data of both left and right rearview mirrors need to be recorded. The vertical adjustment device and the horizontal adjustment device can share the same data storage module, that is, the first data storage module and the second data storage module are the same data storage module, which is used to store expected vertical field of view data and expected horizontal field of view data.

[0050] The data acquisition module is used to obtain the spatial position of the human eye O and the angle m between the current rearview mirror position and the vertical reference line. The relevant data of the left and right rearview mirrors need to be recorded.

[0051] The first calculation module mainly calculates the expected angle α of the rearview mirror based on the vertical direction according to the ratio of sky to ground through the vertical angle algorithm.

[0052] The vertical rotation control module controls the rearview mirror to rotate α-m degrees in the vertical direction to complete the adjustment of the rearview mirror.

[0053] The image acquisition module is used to collect the horizontal field of view features. It consists of an infrared transmitter installed on a known point G on the vehicle body and a camera that is sensitive to infrared rays. The known point G needs to represent the outermost contour of the vehicle body. After the known point G is imaged based on the mirror, the image needs to be located at the expected position A on the mirror surface, and this position A is known. The infrared device is used to emit a beam of infrared rays, which will always be directed to position A. The camera is used to capture the image formed on the rearview mirror and transmit the captured image to the second computing module.

[0054] The second calculation module is mainly used for image recognition and calculation. The second calculation module will process the image in grayscale and identify the position of the human eye and the infrared light spot by contour extraction and grayscale recognition. According to the position relationship, it is determined whether the rearview mirror needs to be rotated in the horizontal direction and in which direction.

[0055] Preferably, the intelligent system further includes a memory module and a user identification module, wherein the user identification module is used to identify the user in the driving seat, and the memory module is used to record the final position information of the rearview mirror corresponding to the user. The user identification module is an account system or a biometric system. Next time when it is recognized that the same user gets on the car, the rearview mirror can be directly adjusted to the appropriate position.

[0056] The vertical corner rotation algorithm and the horizontal corner rotation algorithm adopted by the present invention will be described in detail below.

[0057] 1. Vertical corner algorithm:

[0058] The dividing line between the sky and the ground is the horizon, which can be seen as a line that is infinitely far away relative to the human eye.

[0059] The imaging of the human eye conforms to the principle of perspective. According to the principle of perspective, all parallel straight lines disappear at a point infinitely far away. If the human eye wants to see the horizon, the line of sight of the human eye must disappear on the horizon. According to the principle of perspective, the line of sight of the human eye is parallel to the ground plane at this time. If the line of sight extends diagonally upward, then what you see is the sky; if the line of sight extends diagonally downward, then what you see is the ground.

[0060] like Figure 1 As shown in the figure, according to the principle of mirror imaging, the image seen by the human eye O through the mirror is formed by the incident light after reflection from the mirror. The extended line of the incident light will pass through the image O of the human eye. 1 When the straight line O 1 When A extends obliquely upward, the human eye at the mirror position A will see the sky.1 When A extends obliquely downward, the human eye will see the ground at the mirror position A. 1 When A is horizontal, the human eye sees the horizon at point A on the mirror surface.

[0061] like Figure 2 As shown, let the known point R be the origin of the spatial coordinate system (0, 0, 0), and the rotation center of the rearview mirror in the vertical direction be the y-axis of the coordinate system. The movement on the y-axis will not affect the upper and lower positions of the horizon in the rearview mirror. Therefore, the horizon position is only affected by the z-coordinate and x-coordinate of the human eye O.

[0062] like Figure 3 As shown, point A is the target position of the image of the horizon in the rearview mirror on the rear video plane, R is the rotation center of the rearview mirror, and O is the human eye. According to the principle of mirror imaging, if you want to see the horizon at point A, you need to rotate the mirror so that the horizontal incident light passing through point A will fall exactly on the human eye O after being reflected by the mirror. Since point A is on the mirror, the position of A will change after the mirror is rotated, so this article uses A' to replace the position of point A after rotation. The angle between the mirror and the vertical direction after rotation is α, and the angle between OA' and the horizontal direction is γ. O" is the image of the human eye based on the rotated mirror, and O' is the image formed by the human eye based on the mirror in a vertical state. Point E is the intersection of OO" and the rotated mirror, and point F is the intersection of OO" and the mirror in a vertical state. Point P is the intersection of OO' and the mirror in a vertical state.

[0063] A' is located on a circle with R as the center and AR as the radius. Point A is a known point in the data storage module, so the length r of AR is also known and will be stored in advance. Let A's coordinates be (x, z), then we have equation 1: x 2 +z 2 =r 2 .

[0064] In triangle REF, ∠REF is a right angle; in triangle OPF, ∠OPF is a right angle; and because ∠RFE and ∠OFP are the same angle, ∠FOP=∠FRE=α.

[0065] Because O”G is a horizontal line and O'O is also a horizontal line, and the two are parallel to each other, so ∠A'O”O=∠FOP=α.

[0066] According to the principle of mirror imaging, triangles A'O"E and A'OE are congruent triangles, so ∠A'OO"=∠A'O"O=α.

[0067] γ is the supplementary angle of ∠O”AO, so γ=∠A'OO”+∠A'O”O=2α.

[0068] Assume the coordinates of the human eye O are (xo , z o ), which is a known parameter that can be measured using sensors.

[0069] According to the trigonometric function theorem, tanα=x / z, tanγ=(xx o ) / (z o -z)=tan 2α, tan 2α=2tanα / (1-tan 2 α), these three equations can be used to derive equation 2: (2×x / z) / (1-x 2 / z 2 )=(xx o ) / (z o -z).

[0070] Two equations, two unknowns. Based on the structure of the vehicle body, the position of the human eye and the expected position of point A, A' will only exist in one quadrant, so the only actual coordinate value of A' (x, z) can be calculated. Substituting the coordinates of A' into α=arctan(x / z) can determine the angle of α.

[0071] The current angle m of the rearview mirror relative to the vertical direction is a known quantity collected by the data acquisition module, and the difference obtained by α-m is the angle that needs to be rotated in the vertical direction.

[0072] 2. Horizontal corner algorithm:

[0073] Horizontal rotation finger Figure 2 The z-axis rotates, and β is the angle that needs to be offset relative to the y-axis.

[0074] The horizontal field of view mainly refers to the proportion of the vehicle body in the rearview mirror. When the rearview mirror is in the best field of view in the horizontal direction, this proportion is known. We can define a known reference line A to represent this proportion. The actual proportion can be represented by the position of the G point on the rearview mirror that the human eye sees through the rearview mirror. Figure 4 .

[0075] The position of the reference line A is a known quantity measured in advance and will be recorded in the data storage module. A' is the spatial position of point A after the mirror is rotated.

[0076] O” is the image of the human eye based on the rotated mirror. If you want to make the position of point G on the rearview mirror fall on the reference line A, according to the mirror imaging principle, you only need to rotate the mirror so that the three points G, O” and A (point A is the projection of the reference line A on the plane xRy) are on a straight line.

[0077] The present invention installs an infrared-sensitive camera and an infrared emitting device at the G point of the vehicle body. The infrared emitting device emits a beam of infrared light directed toward the reference line A, and can fine-tune the infrared angle according to the rotation of the mirror surface to ensure that the infrared light always shines on the reference line A after the mirror surface rotates. After the infrared light is reflected by the mirror surface, if it happens to fall on the driver's designated eye, then the reflection point of the light on the mirror surface can represent the position of the G point seen by the human eye on the mirror surface. It can also represent the position of the image of the human eye seen at the G point on the mirror surface.

[0078] Principles for specifying one eye: Since the reference line is close to the inside of the rearview mirror, according to field tests, the position seen by both eyes on the left rearview mirror is basically the same as the position seen by the left eye, and on the right rearview mirror, it is basically the same as the position seen by the right eye. Therefore, when adjusting the left rearview mirror, use the left eye as the reference, and when adjusting the right rearview mirror, use the right eye as the reference.

[0079] The camera is mainly used to take pictures of the image formed in the rearview mirror when looking at the rearview mirror from point G, and transmit the picture to the calculation module for calculation. The picture will record the infrared light spot and human eyes on the rearview mirror. The straight line where the infrared light spot is located represents the reference line A. If the specified single eye falls on the reference line A, the rearview mirror is in the best field of view in the horizontal direction.

[0080] Photo calculation principles:

[0081] 1. Process the photo in grayscale, and extract the position O of the human eye in the photo through contour and grayscale value recognition.

[0082] 2. Extract the position of the infrared light spot in the photo through grayscale value comparison. The vertical line where this point is located is the position of reference line A.

[0083] 3. Determine whether the human eye is on reference line A. If so, the angle is just right and there is no need to rotate the rearview mirror.

[0084] 4. If the human eye is not on the reference line A, and if O" and R are not on the same side of the reference line, a command is sent to the rotation controller to rotate the rearview mirror toward the driver until O" falls exactly on the reference line.

[0085] 5. If the human eye is not on the reference line A, if O" and R are on the same side of the reference line, a command is sent to the rotation controller to rotate the rearview mirror away from the driver until O" falls exactly on the reference line.

[0086] The above are only preferred embodiments of the present invention, which are only illustrative and not restrictive. The structures and connection modes of the components in the present invention can be changed, and any equivalent transformations and improvements based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. An intelligent system for automatically adjusting the position of a rearview mirror, characterized in that: It includes a trigger device, a vertical adjustment device and a horizontal adjustment device; The trigger device is used to start the vertical adjustment device and the horizontal adjustment device; The vertical adjustment device comprises a first data storage module, a data acquisition module, a first calculation module and a vertical rotation control module; the first data storage module is used to store expected vertical field of view data; the data acquisition module is used to obtain the spatial position of the driver's eyes and the angle of the current rearview mirror position relative to the vertical direction; the first calculation module is used to calculate the expected angle of the rearview mirror based on the vertical direction according to the data stored and acquired in the first data storage module and the data acquisition module; the vertical rotation control module is used to control the rearview mirror to rotate in the vertical direction according to the expected angle; The horizontal adjustment device includes a second data storage module, an image acquisition module, a second calculation module and a horizontal rotation control module; the second data storage module is used to store expected horizontal field of view data; the image acquisition module is used to collect pictures containing horizontal field of view features on the rearview mirror; the second calculation module is used to extract the field of view features in the picture, and determine the optimal horizontal field of view position and / or horizontal adjustment rotation direction based on the field of view features and the horizontal field of view data; the horizontal rotation control module is used to control the rearview mirror to rotate in the horizontal direction based on the determination of the second calculation module.

2. The intelligent system according to claim 1, characterized in that: It also includes a memory module and a user identification module, wherein the user identification module is used to identify the user of the driving seat, and the memory module is used to record the final position information of the rearview mirror corresponding to the user; When the user identified by the user identification module has corresponding final position information of the rearview mirror in the memory module, the vertical adjustment device and the horizontal adjustment device can adjust the rearview mirror according to the final position information.

3. The intelligent system according to claim 2, characterized in that: The vertical adjustment device and the horizontal adjustment device may share the same data storage module, that is, the first data storage module and the second data storage module are the same data storage module, which is used to store the expected vertical field of view data and the expected horizontal field of view data.

4. The intelligent system according to claim 2, characterized in that: The user identification module is an account system or a biometric identification system.

5. The intelligent system according to any one of claims 1 to 3, characterized in that: The expected vertical field of view data includes the expected range ratio of the sky and the ground in the field of view in the rearview mirror, and the expected horizontal field of view data includes the expected range ratio of the vehicle body in the field of view in the rearview mirror.

6. The intelligent system according to claim 5, characterized in that: The expected range ratio of the sky and the ground in the rearview mirror is represented by the expected position of the horizon on the rearview mirror; the expected range ratio of the vehicle body in the rearview mirror is represented by a vertical reference line at the expected position on the rearview mirror.

7. The intelligent system according to claim 6, characterized in that: The calculation of the first calculation module is based on: when the line connecting the image of the human eye on the rearview mirror surface and the expected position of the horizon on the mirror surface is parallel to the ground plane, the human eye can just see the horizon at the expected position of the mirror surface; at the same time, the angle formed by the line connecting the expected position and the eye and the horizon is twice the angle between the rearview mirror surface and the vertical direction.

8. The intelligent system according to claim 6, characterized in that: The image acquisition module includes an infrared-sensitive camera and an infrared emitting device installed at point G of the vehicle body. Point G is a known point on the vehicle body that can represent the outermost contour of the vehicle body. The infrared rays emitted by the infrared emitting device always fall on the vertical reference line. The camera is used to capture the image formed in the rearview mirror when looking from point G to the rearview mirror, and transmit the captured image to the second computing module.

9. The intelligent system according to claim 8, characterized in that: The infrared emitting device can fine-tune the infrared emitting angle according to the rotation of the rearview mirror surface, so as to ensure that the infrared ray always shines on the vertical reference line after the mirror surface rotates.

10. The intelligent system according to claim 8, characterized in that: The second calculation module performs image recognition in the following way: The image is processed in grayscale, and the position of the human eye in the image is extracted through contour and grayscale value recognition; The position of the infrared light spot in the image is extracted by grayscale value comparison, and the vertical line where the light spot is located is the position of the vertical reference line.

11. The intelligent system according to claim 10, characterized in that: The second calculation module performs the judgment method as follows: Determining whether the position of the human eye in the image is on the vertical reference line; If the position of the human eye in the picture is on the vertical reference line, the horizontal angle of the rearview mirror is appropriate and there is no need to rotate the rearview mirror horizontally; If the position of the human eye in the picture is not on the vertical reference line, and the position of the human eye in the picture and the rotation center of the rearview mirror are not on the same side of the vertical reference line, it is determined that the rearview mirror is horizontally rotated toward the driver's seat until the position of the human eye in the picture just falls on the vertical reference line; If the position of the human eye in the picture is not on the vertical reference line, and the position of the human eye in the picture and the rotation center of the rearview mirror are on the same side of the vertical reference line, it is determined that the rearview mirror is rotated horizontally in a direction away from the driver until the position of the human eye in the picture just falls on the vertical reference line.

12. The intelligent system according to claim 11, characterized in that: When the second calculation module makes a judgment based on the left rearview mirror, the position of the human eye in the picture is the position of the left eye in the picture; when the second calculation module makes a judgment based on the right rearview mirror, the position of the human eye in the picture is the position of the right eye in the picture.

13. The intelligent system according to claim 12, characterized in that: The trigger device determines whether someone is sitting in the driver's seat through gravity sensing, and after detecting that the seat position is adjusted and the seat belt is buckled in place, the vertical adjustment device and the horizontal adjustment device are activated.

14. The intelligent system according to claim 12, characterized in that: The trigger device actively starts the vertical adjustment device and the horizontal adjustment device by means of voice commands.

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