Rearview mirror anti-scraping control method, device and equipment and storage medium

Abstract

The invention discloses a rearview mirror anti-scraping control method, device and equipment and a storage medium, and relates to the technical field of automobile rearview mirror control, and the rearview mirror anti-scraping control method comprises the steps that the necessary width of a narrow area, the target width of an automobile and the necessary width of the automobile are obtained; determining a vehicle passing state and a rubbing state based on the narrow area necessary width, the vehicle target width and the vehicle necessary width; vehicle rearview mirrors are adjusted based on the vehicle passing state and the scratching state to determine the vehicle driving state, and the vehicle is controlled to trigger vehicle anti-scratching early warning based on the vehicle driving state. The necessary width of the narrow area and the target width and the necessary width of the vehicle are determined through the integrated sensor and the intelligent algorithm, so that the vehicle passing state and the scratching risk are intelligently judged, the rearview mirror state is automatically adjusted, early warning is triggered, the driving safety is effectively improved, rearview mirror scratching accidents are reduced, property loss is reduced, and the driving safety is improved. And meanwhile, the driving convenience and the user experience are remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile rearview mirror control, and in particular to a rearview mirror anti-scratch control method, device, equipment and storage medium. Background Art

[0002] With the development of urban traffic, drivers often need to drive and park in narrow areas during daily driving. The rearview mirror of the vehicle is easily scratched by the surrounding environment due to its protruding design, resulting in damage. Therefore, how to effectively protect the rearview mirror from scratches, improve driving safety, and reduce property losses has become a common concern of drivers and car manufacturers.

[0003] At present, the existing practice of scratch protection of rearview mirrors mainly relies on the subjective judgment and manual operation of the driver. The driver needs to judge whether to fold the rearview mirror based on experience, and manually operate the soft and hard buttons to complete the folding and unfolding of the rearview mirror.

[0004] However, existing practices rely on the driver's alertness and timeliness of operation. In complex traffic environments and narrow spaces, it is difficult for the driver to make accurate judgments and timely operations every time. For example, when driving and parking in narrow areas where the rearview mirrors need to be folded and unfolded frequently, the driver's manual operation increases driving fatigue. In addition, due to the delay in the driver's reaction and operation, the risk of accidents increases, and the automatic adjustment cannot be made according to the actual environment, resulting in frequent rearview mirror scratch accidents, causing property losses to the driver, which not only affects the driver's driving experience, but also poses a threat to driving safety. Therefore, how to fold the rearview mirrors in a timely manner in narrow areas to more efficiently and accurately control the anti-scratch of the rearview mirror has become an urgent problem to be solved.

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

[0006] The main purpose of the present application is to provide a rearview mirror anti-scratch control method, device, equipment and storage medium, aiming to solve the technical problem of how to fold the rearview mirror in a narrow area in time so as to perform rearview mirror anti-scratch control more efficiently and accurately.

[0007] To achieve the above objectives, the present application proposes a rearview mirror anti-scratch control method, the method comprising:

[0008] Obtain the necessary width of the narrow area, the target width of the ego vehicle, and the necessary width of the ego vehicle;

[0009] determining a vehicle passing state and a vehicle scratching state based on the narrow area required width, the own vehicle target width, and the own vehicle required width;

[0010] The vehicle rearview mirror is adjusted based on the vehicle passing state and the scratch state to determine the vehicle driving state, and the vehicle is controlled based on the vehicle driving state to trigger a vehicle anti-scratch warning.

[0011] In one embodiment, the step of obtaining the required width of the narrow area, the target width of the vehicle, and the required width of the vehicle includes:

[0012] Acquire perceived environment information and a sensor fusion algorithm, wherein the perceived environment information includes camera perception information, laser radar perception information, and ultrasonic radar perception information;

[0013] The sensor fusion algorithm is used to analyze the perceived environment information to determine the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle.

[0014] In one embodiment, the step of determining the vehicle passing state and the vehicle scratching state based on the narrow area required width, the vehicle target width and the vehicle required width includes:

[0015] Get the target perceived bandwidth;

[0016] Obtaining a vehicle passing state based on the target perception bandwidth, the narrow area required width, the ego vehicle target width, and the ego vehicle required width;

[0017] The vehicle anti-scratch operation is performed based on the vehicle passing state to determine the scratch risk and obtain the scratch state. The vehicle anti-scratch operation includes unfolding the rearview mirror, closing the rearview mirror and braking to stop the vehicle.

[0018] In one embodiment, the step of obtaining the vehicle passing state based on the target perception bandwidth, the narrow area required width, the ego vehicle target width and the ego vehicle required width includes:

[0019] When the sum of the target perception bandwidth and the vehicle target width is not less than the required width of the narrow area or the sum of the target perception bandwidth and the vehicle required width is less than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle rearview mirror is folded, that is, the vehicle is allowed to pass through the narrow area;

[0020] When the sum of the target perception bandwidth and the vehicle target width is lower than the required width of the narrow area, and when the sum of the target perception bandwidth and the vehicle required width is lower than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror;

[0021] When the sum of the target perception bandwidth and the required width of the own vehicle is not less than the required width of the narrow area, it is determined that the vehicle passing state is not allowed to pass through the narrow area.

[0022] In one embodiment, the step of determining the scratch risk based on the vehicle passing state and performing the vehicle scratch prevention operation to obtain the scratch state includes:

[0023] When the vehicle passing state is that the vehicle folds the rearview mirror, i.e., the vehicle is allowed to pass through the narrow area, the rearview mirror of the vehicle is controlled to be folded to determine the rearview mirror adjustment state. If the rearview mirror adjustment state is that the vehicle successfully folds the rearview mirror, the scratch state is that there is no scratch risk. Otherwise, the scratch state is that there is a scratch risk.

[0024] When the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, the vehicle is controlled to unfold the rearview mirror, and the scratch state is that there is no scratch risk;

[0025] When the vehicle passing state is that it is not allowed to pass through a narrow area, the vehicle is controlled to brake and stop, and the scratching state is that there is a risk of scratching.

[0026] In one embodiment, the step of adjusting the vehicle rearview mirror to determine the vehicle driving state based on the vehicle passing state and the scratching state includes:

[0027] Obtain target time, perceived narrow area distance and target narrow area distance;

[0028] When the vehicle passing state is that the vehicle folds the rearview mirrors, that is, the vehicle is allowed to pass through the narrow area and the scratch state is that there is no risk of scratching, if the perceived narrow area distance is not greater than the target narrow area distance, the vehicle driving state is to brake the vehicle and fold the rearview mirrors, otherwise, the vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving;

[0029] When the vehicle passing state is that the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, the vehicle driving state is to keep the vehicle driving;

[0030] When the vehicle passing state is not allowed to pass through the narrow area or the scratch state is with the risk of scratching, the vehicle is stopped based on the target time or when the perceived narrow area distance is not greater than the target narrow area distance, and the vehicle driving state is unable to stop the vehicle by passing through the narrow area.

[0031] In one embodiment, the step of controlling the vehicle to trigger a vehicle anti-scratch warning based on the vehicle driving state includes:

[0032] When the vehicle driving state is to keep the vehicle moving, the voice broadcast and text display indicate that the vehicle can pass through the narrow area, the rearview mirror is allowed to be deployed, and a light warning is given;

[0033] When the vehicle is in the state of braking and folding the rearview mirror, the voice broadcast and text display indicate that the vehicle is too close to the narrow area, and the vehicle will be safely passed after the rearview mirror is folded, and a light warning will be given;

[0034] When the vehicle is in the driving state of keeping the rearview mirror folded while the vehicle is moving, the voice broadcast and text display indicate that the vehicle has passed through a narrow area, the rearview mirror begins to unfold, the vehicle's anti-scratch function continues to serve you, and a light warning is given;

[0035] When the vehicle is in a driving state where it is unable to stop the vehicle through a narrow area, a voice announcement and text display indicate that the area ahead is too narrow and there is a risk of scratches, and a light warning is given.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a rearview mirror anti-scratch control device, the rearview mirror anti-scratch control device comprising:

[0037] Acquisition module for necessary width in narrow area, target width of ego vehicle and necessary width of ego vehicle;

[0038] A processing module, configured to determine a vehicle passing state and a scratching state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle;

[0039] The execution module is used to adjust the vehicle rearview mirror based on the vehicle passing state and the scratch state to determine the vehicle driving state, and control the vehicle to trigger the vehicle anti-scratch warning based on the vehicle driving state.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a rearview mirror anti-scratch control device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the rearview mirror anti-scratch control method as described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the rearview mirror anti-scratch control method as described above are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] The present embodiment proposes a rearview mirror anti-scratch control method, which obtains the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; determines the vehicle passing state and the scratching state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; adjusts the vehicle rearview mirror based on the vehicle passing state and the scratching state to determine the vehicle driving state, and controls the vehicle to trigger the vehicle anti-scratch warning based on the vehicle driving state. The present application determines the necessary width of the narrow area, the target width and the necessary width of the vehicle through integrated sensors and intelligent algorithms, thereby intelligently judging the vehicle passing state and the risk of scratching, automatically adjusting the rearview mirror state and triggering a warning, effectively improving driving safety, reducing rearview mirror scratching accidents, reducing property losses, and significantly improving driving convenience and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the rearview mirror anti-scratch control method of the present application;

[0047] Figure 2 This is a schematic diagram of the intelligent driving domain control structure of the rearview mirror anti-scratch control method of this application;

[0048] Figure 3 A flow chart of the second embodiment of the rearview mirror anti-scratch control method of the present application;

[0049] Figure 4 A schematic diagram of a brief process of a rearview mirror anti-scratch control method provided in an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of the module structure of the anti-scratch control device for a rearview mirror according to an embodiment of the present application;

[0051] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the rearview mirror anti-scratch control method in the embodiment of the present application.

[0052] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0054] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0055] The main solution of the embodiment of the present application is: obtaining the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; determining the vehicle passing status and the scratching status based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; adjusting the vehicle rearview mirror based on the vehicle passing status and the scratching status to determine the vehicle driving status, and controlling the vehicle based on the vehicle driving status to trigger the vehicle anti-scratch warning.

[0056] In this embodiment, for the convenience of description, the following description is made by taking the identification of the rearview mirror anti-scratch control device as the execution subject.

[0057] Since the existing technology relies on the driver's alertness and timely operation, it is difficult for the driver to make accurate judgments and timely operations every time in complex traffic environments and narrow spaces. For example, when driving and parking in narrow areas where the rearview mirrors need to be folded and unfolded frequently, the driver's manual operation increases driving fatigue. In addition, due to the delay in the driver's reaction and operation, the risk of accidents increases, and the system cannot automatically adjust according to the actual environment, resulting in frequent rearview mirror scratches and property losses for the driver, which not only affects the driver's driving experience, but also poses a threat to driving safety.

[0058] The present application provides a solution to obtain the necessary width of a narrow area, the target width of the own vehicle and the necessary width of the own vehicle; determine the vehicle's passing status and scratching status based on the necessary width of the narrow area, the target width of the own vehicle and the necessary width of the own vehicle; adjust the vehicle's rearview mirror based on the vehicle's passing status and the scratching status to determine the vehicle's driving status, and control the vehicle based on the vehicle's driving status to trigger a vehicle anti-scratch warning.

[0059] It can be seen from the above embodiments that the present application determines the necessary width of the narrow area, the target width and necessary width of the vehicle through integrated sensors and intelligent algorithms, thereby intelligently judging the vehicle's passing status and scratch risk, automatically adjusting the rearview mirror status and triggering an early warning, effectively improving driving safety, reducing rearview mirror scratch accidents, and reducing property losses, while significantly improving driving convenience and user experience.

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

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

[0062] Step S10, obtaining the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle;

[0063] It should be noted that the narrow area required width reflects the characteristics of the minimum width required to pass through the narrow area, the own vehicle target width reflects the characteristics of the width of the vehicle after unfolding the rearview mirrors, and the own vehicle required width reflects the characteristics of the width of the vehicle after folding the rearview mirrors.

[0064] It can be understood that the surrounding environment information is input into the intelligent driving domain control, and the sensor fusion algorithm is used to accurately analyze the drivable area. If it meets the set narrow area target width interval, the drivable area is determined to be a narrow area. The distance between environmental obstacles in the narrow area is detected to obtain the necessary width of the narrow area. The target width and necessary width of the vehicle can be obtained by analyzing the relevant data information of the vehicle.

[0065] In addition, it should be noted that by accurately measuring the width of the narrow area, it is possible to intelligently determine whether the vehicle has passed safely, automatically adjust the rearview mirror, and reduce scratches on the rearview mirror in the narrow area, thereby reducing maintenance costs and property losses.

[0066] For ease of understanding, the example of obtaining the necessary width of a narrow area, the target width of the vehicle and the necessary width of the vehicle is used for explanation, wherein the information collection device is an information collection module and the storage device is a memory.

[0067] The information collection module includes a laser radar sensor module, a camera sensor module and an ultrasonic sensor module. The laser radar sensor module is used to obtain laser radar perception information, that is, the blind laser radar is installed around the left and right fenders, wherein the specific installation position can be reasonably arranged according to the actual vehicle model. When the driving and parking assistance functions are turned on or when people are driving the vehicle, it is responsible for real-time perception of the surrounding environment information to obtain the laser radar perception information. The camera sensor module is used to obtain the laser radar perception information, that is, the camera sensor is installed in the front, rear, left and right of the vehicle, with the goal of being able to achieve coverage perception or present the vehicle's surrounding environment. It is reasonably arranged according to the actual vehicle model, and the visual environment information around the vehicle is recorded in real time to obtain the laser radar perception information. The ultrasonic sensor module is used to obtain the ultrasonic radar perception information. That is, ultrasonic radars are installed around the front and rear bumpers and front and rear fenders of the vehicle, wherein the specific number of installations can be reasonably selected according to the actual installation effect, so as to achieve the minimum number requirement for covering the perception of the vehicle's surrounding environment. The emitted ultrasonic waves are used to perceive the obstacle information around the vehicle in real time, and the ultrasonic radar perception information is obtained. The perception environment information is determined based on the camera perception information, the lidar perception information and the ultrasonic radar perception information, and a sensor fusion algorithm is obtained. The perception environment information is analyzed based on the sensor fusion algorithm to determine the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle, and the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle are stored in a memory, and subsequent processing is performed based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle.

[0068] In a feasible implementation, step S10 may include steps A11 to A12:

[0069] Step A11, acquiring perceived environment information and a sensor fusion algorithm, wherein the perceived environment information includes camera perception information, laser radar perception information, and ultrasonic radar perception information;

[0070] It should be noted that the perceived environmental information reflects the characteristics of all-round information of the vehicle's surrounding environment, and the sensor fusion algorithm reflects the characteristics of extracting narrow area features of the perceived environmental information and identifying the vehicle's information.

[0071] It is understandable that the fusion of multiple sensors can significantly improve the perception accuracy of the vehicle's surrounding environment, reduce reliance on the failure of a single sensor, and reduce rearview mirror scratches caused by environmental misjudgment, thereby improving driving safety and comfort and enhancing user experience.

[0072] Step A12, analyzing the perceived environment information based on the sensor fusion algorithm to determine the required width of the narrow area, the target width of the vehicle, and the required width of the vehicle.

[0073] It can be understood that when the anti-scratch function of the driving and parking rearview mirrors is turned on, when the driver is about to drive through a narrow area, the anti-scratch system of the driving and parking rearview mirrors in the narrow area scene uses the surrounding environment information sensed by the lidar sensor module, camera sensor module, and ultrasonic sensor module in the system and input into the intelligent driving domain control. The multi-sensor fusion algorithm accurately analyzes the obstacles in the environment, the drivable area, and the vehicle-related data, and can obtain the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle.

[0074] Step S20, determining a vehicle passing state and a vehicle scratching state based on the narrow area necessary width, the vehicle target width and the vehicle necessary width;

[0075] It should be noted that the vehicle passing state reflects the characteristics of the vehicle's safe passing judgment state in a narrow area, and the scratch state reflects the characteristics of the scratch risk state when the vehicle passes through a narrow area after adjusting the rearview mirror.

[0076] For ease of understanding, the following description is made by taking the determination of the passing state and the scratching state of a vehicle as an example, wherein the information collection device is an information collection module, the storage device is a memory, and the processing device is a processing module.

[0077] The processing module includes an intelligent driving domain control module, a body domain control module and an associated component execution module. The intelligent driving domain control module includes a domain control SOC and a domain control MCU. Figure 2 As shown, Figure 2 This is a schematic diagram of the intelligent driving domain control structure of the rearview mirror anti-scratch control method of this application, in which the domain control SOC is responsible for receiving environmental information perceived by multiple sensors such as cameras, lidars, and ultrasonic radars, and accurately analyzing information such as parking spaces and obstacles in the environment through a multi-sensor fusion algorithm, and outputting the analysis results as a basis for deciding whether to fold or unfold the rearview mirror during the use of auxiliary driving and parking functions or when people are driving the car. The domain control MCU is responsible for receiving the folding and unfolding of the rearview mirror output by the domain control SOC, converting it into an analog electrical signal and transmitting it to the body domain control module, and the body domain control module is responsible for receiving The intelligent driving domain control module outputs the electrical signals for folding and unfolding the rearview mirrors, the electrical signals for turning on the light warning module, and correspondingly turns on the light warning and drives the motor to complete the intelligent folding and unfolding of the rearview mirrors. The associated component execution module includes the power domain control module PDCM, the electric power steering system EPS, the intelligent integrated braking system IPB, the body domain control module BCM, the vehicle's lateral and longitudinal power associated components, the left and right steering control associated components, and the body state control associated components. By receiving the corresponding control signals output by the intelligent driving domain control module, the lateral and longitudinal power control, left and right steering control, and body state control of the entire vehicle are completed.

[0078] The information collection module obtains the necessary width w0 of the narrow area and the target width w of the vehicle max , get the necessary width w of the vehicle min , obtain the target perception bandwidth Δw, and obtain the vehicle passing state based on the target perception bandwidth, the required width of the narrow area, the target width of the vehicle and the required width of the vehicle, if:

[0079]

[0080] At this time, when the sum of the target perception bandwidth and the target width of the vehicle is not less than the necessary width of the narrow area or the sum of the target perception bandwidth and the necessary width of the vehicle is less than the necessary width of the narrow area, the vehicle's passing state is determined to be the vehicle's folded rearview mirrors, that is, it is allowed to pass through the narrow area, and the vehicle's folding rearview mirrors are controlled to determine the rearview mirror adjustment state. If the rearview mirror adjustment state is that the vehicle successfully folds the rearview mirrors, the scratch state is that there is no scratch risk, otherwise, the scratch state is that there is a scratch risk, that is, the system determines that the vehicle can pass safely in the current narrow area when the rearview mirrors are folded, and there is a risk of scratching the rearview mirrors when the vehicle's rearview mirrors are unfolded and passed. At this time, the intelligent driving domain control SOC outputs the analysis result as a request for a decision to fold the rearview mirrors during the use of the assisted walking and parking functions or during human driving to the intelligent driving domain control MCU, and the domain control MCU converts the decision request for folding the rearview mirrors output by the intelligent driving domain control SOC into an analog control electrical signal, and transmits it to the body domain control module to control the folding of the rearview mirrors.

[0081] When the anti-scratch function of the driving and parking rearview mirrors is turned on, after the vehicle passes through a narrow area with the rearview mirrors folded, if the following conditions are met:

[0082] W max +ΔW <W0

[0083] At this time, when the sum of the target perception bandwidth and the target width of the vehicle is lower than the necessary width of the narrow area, the sum of the target perception bandwidth and the necessary width of the vehicle is lower than the necessary width of the narrow area, the vehicle's passing state is determined to be that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, and the vehicle is controlled to unfold the rearview mirror. The scratch state is that there is no risk of scratching, that is, the system determines that the current vehicle has passed through the narrow area, and there is no risk of scratching the rearview mirror even when the vehicle's rearview mirror is unfolded and passed through. At this time, the intelligent driving domain control SOC outputs the analysis result as a request for a decision to unfold the rearview mirror during the use of the assisted walking and parking functions or during human driving to the intelligent driving domain control MCU, and the domain control MCU converts the decision request for unfolding the rearview mirror output by the intelligent driving domain control SOC into an analog control electrical signal, and transmits it to the body domain control module to control the unfolding of the rearview mirror.

[0084] When the anti-scratch function of the driving and parking rearview mirror is turned on, if the following conditions are met:

[0085] Wmin +ΔW≥W0

[0086] At this time, when the sum of the target perception bandwidth and the required width of the vehicle is not less than the required width of the narrow area, the vehicle passing state is determined as not being allowed to pass through the narrow area, the vehicle is controlled to brake and stop, and the scratch state is that there is a risk of scratching.

[0087] Step S30, adjusting the vehicle rearview mirror based on the vehicle passing state and the scratch state to determine the vehicle driving state, and controlling the vehicle to trigger a vehicle anti-scratch warning based on the vehicle driving state.

[0088] It should be noted that the vehicle driving state reflects whether the vehicle can pass through a narrow area after adjusting the rearview mirror.

[0089] It is understandable that through real-time perception and intelligent decision-making, the system can accurately determine whether the vehicle can safely pass through narrow areas, and adjust the status of the rearview mirror or control the vehicle's braking in a timely manner. There is no need to manually operate the rearview mirror, and the folding and unfolding of the rearview mirror can be intelligently controlled. It also warns the user through in-vehicle HMI interaction, voice broadcast and light warnings, thereby effectively preventing the occurrence of scratches.

[0090] In addition, it should be noted that the anti-scratch function of the rearview mirror for driving and parking can be turned on or off by hard buttons and soft switches on the central control screen of the HMI display module in the car. After the anti-scratch function of the rearview mirror for driving and parking is turned on, the intelligent driving domain control unit intelligently controls the folding and unfolding of the rearview mirror. The intelligent driving domain control can synchronously link the voice broadcast module in the car to give the driver an auditory voice corresponding prompt sound, and can control the front and rear double flashes of the light warning module and the flashing of the lower light of the rearview mirror at a specified frequency to visually warn the surrounding traffic participants, and the corresponding text prompts to the driver on the central control screen of the HMI interactive module in the car. The whole system comprehensively prompts the driver and traffic participants from the visual, auditory and tactile senses.

[0091] For ease of understanding, the following is explained by taking determining the driving status of a vehicle as an example, wherein the information collection device is an information collection module, the storage device is a memory, and the execution device is an execution module.

[0092] The execution module includes an in-vehicle HMI interaction module, a light warning module and an in-vehicle voice broadcast module. The in-vehicle HMI interaction module is a built-in central control display screen of the vehicle, which is used to provide the in-vehicle driver and the parking assistance function with visual driving and parking function status, as well as real-time progress and rendering element information display during driving and parking, as well as tactile interaction with the buttons for driving and parking mirror anti-scratch functions in narrow area scenarios. The light warning module is composed of a request command issued by the intelligent driving domain control module, a vehicle front double flash and a rear double flash controlled by the body domain control module, and a warning light installed at the bottom of the rearview mirror. In the narrow area scenes and daily driving scenes during the use of the driving and parking functions, driving After the anti-scratch function of the rearview mirror is turned on, in the face of narrow and scratch-prone rearview mirror scenes, the body domain control module controls the double flash and the lights at the bottom of the rearview mirror to flash at a specified frequency to visually warn the surrounding traffic participants. The in-car voice broadcast module is used when the driving and parking functions are in use. In narrow area scenes and daily driving scenes, after the anti-scratch function of the rearview mirror is turned on, in the face of narrow and scratch-prone rearview mirror scenes, real-time voice broadcast is performed, such as the prompt sound of the rearview mirror starting to fold intelligently when driving or parking in a narrow space, and the prompt sound of the rearview mirror starting to unfold intelligently after the vehicle passes through a narrow and scratch-prone scene.

[0093] Obtain the target time Δt, the perceived narrow area distance ΔL and the target narrow area distance L0, obtain the vehicle passing state, such as the vehicle passing state is that the vehicle is allowed to pass through the narrow area with the rearview mirrors folded, the vehicle is allowed to pass through the narrow area without adjusting the rearview mirrors and is not allowed to pass through the narrow area, obtain the scratch state, such as the scratch state is no scratch risk and has a scratch risk, obtain the vehicle driving state based on the vehicle passing state and the scratch state, when the vehicle passing state is that the vehicle is allowed to pass through the narrow area with the rearview mirrors folded and the scratch state is no scratch risk, if the perceived narrow area distance is not greater than the target narrow area distance, that is, when the anti-scratch function of the driving and parking rearview mirrors is turned on, and the intelligent driving driving and parking functions are turned on, before the intelligent driving domain control requests to fold the rearview mirrors when the vehicle passes through the narrow area, the system determines that the vehicle can pass safely after folding the rearview mirrors at this time, at this time, if the following conditions are met:

[0094] ΔL≤L0

[0095] The vehicle driving state is the braked vehicle with folded rearview mirrors. When the vehicle driving state is the braked vehicle with folded rearview mirrors, the voice broadcast and text display are too close to the narrow area, and the braked vehicle will be taken over and the rearview mirrors will be folded before passing safely, and a light warning will be given. That is, the system believes that the vehicle is too close to the narrow area at this time, and the intelligent driving domain control SOC sends a comfort braking request to the intelligent driving domain control MCU, and the intelligent driving domain control MCU sends a corresponding control electrical signal to the associated component execution module, and at the same time requests the in-vehicle HMI interaction module and the in-vehicle voice broadcast module to execute corresponding instructions such as "too close to the narrow area, The voice broadcast and corresponding HMI text prompts the user that "it will take over the braking and stopping of the vehicle and fold the rearview mirrors, and then pass safely" are given, and then the associated component execution module executes the braking and stops the vehicle, and then the body domain control module completes the folding of the rearview mirrors. The intelligent driving domain control driving and parking functions continue to take over the vehicle's horizontal and vertical associated component control modules to pass through the narrow area. Finally, after passing through the narrow area, the intelligent driving domain control controls the in-car voice broadcast module to broadcast announcements such as "the narrow area has been passed, the rearview mirrors begin to unfold, and the rearview mirror anti-scratch function continues to serve you", and at this time the intelligent driving domain control module requests the body domain control module to unfold the rearview mirrors in time.

[0096] Otherwise, if:

[0097] ΔL>L0

[0098] The vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving. When the vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving, the voice broadcast and text display indicate that the narrow area has been passed, the rearview mirrors begin to unfold, the vehicle's anti-scratch function continues to serve you, and a light warning is given, that is, the system believes that there is a sufficient safe distance from the narrow area at this time. At this time, during the vehicle's movement, the body domain control module is directly requested to fold the rearview mirrors, and the in-vehicle voice broadcast module and the in-vehicle HMI interaction module are requested to complete the folding of the rearview mirrors, and the rearview mirrors are promptly requested to be unfolded and corresponding prompts are given after passing.

[0099] When the vehicle passing state is that the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, and the vehicle driving state is to keep the vehicle driving, when the vehicle driving state is to keep the vehicle driving, the voice broadcast and text display indicate that the vehicle can pass through a narrow area, the rearview mirror is allowed to be unfolded, and a light warning is given.

[0100] When the vehicle passing status is that it is not allowed to pass through the narrow area or the scratching status is that there is a risk of scratching, the vehicle is braked based on the target time or when the perceived narrow area distance is not greater than the target narrow area distance, the vehicle driving status is that it cannot pass through the narrow area and the vehicle is braked. When the vehicle driving status is that it cannot pass through the narrow area and the vehicle is braked, the voice broadcast and text display are that the area ahead is too narrow and there is a risk of scratching, and a light warning is given. That is, when the system determines that the vehicle cannot pass through the narrowest part of the area even after folding the rearview mirror, if it is in a human driving scene at this time, the system intelligent driving domain control module sends an early warning in advance of the target time Δt, and requests the in-vehicle voice broadcast module to broadcast the warning voice in time, such as the area ahead is too narrow and there is a risk of scratching, and makes a corresponding request to the in-vehicle HMI interaction module for corresponding text display, and at the same time triggers the light warning module to warn the surrounding environment, and obtains the target narrow area distance L a , at this time, if it satisfies:

[0101] ΔL≤L a

[0102] That is, at this time, the intelligent driving domain control requests the in-car voice broadcast module to broadcast in time, such as the area ahead is too narrow and there is a risk of scratches, the rearview mirror anti-scratch function is exited, please take over the vehicle, and request the in-car HMI interaction module to display the corresponding text, and at the same time trigger the light warning module to warn the surrounding environment. Finally, the intelligent driving domain control requests the associated component execution module to brake and stop.

[0103] In a feasible implementation, step S30 may include steps B11 to B14:

[0104] Step B11, obtaining the target time, the perceived narrow area distance and the target narrow area distance;

[0105] It should be noted that the target time reflects the characteristics of the countdown for triggering the warning function calibrated according to actual conditions, the narrow area distance reflects the characteristics of the actual distance between the vehicle and the entrance of the narrow area, and the target narrow area distance reflects the characteristics of the safe distance between the vehicle and the entrance of the narrow area manually preset according to actual conditions.

[0106] Step B12, when the vehicle passing state is that the vehicle folds the rearview mirrors, i.e., the vehicle is allowed to pass through the narrow area and the scratch state is that there is no risk of scratching, if the perceived narrow area distance is not greater than the target narrow area distance, the vehicle driving state is to brake and fold the rearview mirrors; otherwise, the vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving;

[0107] It is understandable that the system can intelligently determine whether the vehicle needs to fold the rearview mirrors based on real-time data, effectively reducing scratches caused by failure to adjust the rearview mirrors in time, improving the safety of the vehicle when driving in narrow areas, and by intelligently adjusting the rearview mirrors, reducing the driver's operating burden when driving in narrow areas, allowing the driver to focus more on driving, thereby optimizing the driving experience.

[0108] Step B13, when the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, the vehicle driving state is to keep the vehicle driving;

[0109] It is understandable that when there is enough space for passage in a narrow area, vehicles are allowed to travel, thereby improving the efficiency of vehicle passage and enhancing the user's driving experience.

[0110] Step B14, when the vehicle passing state is not allowed to pass through the narrow area or the scratch state is with the risk of scratching, the vehicle is stopped based on the target time or the vehicle is stopped when the perceived narrow area distance is not greater than the target narrow area distance, and the vehicle driving state is that the vehicle cannot be stopped by passing through the narrow area.

[0111] It is understandable that by accurately measuring and evaluating the distance between the vehicle and the narrow area, different warning modes can be switched to determine whether the narrow area ahead can be passed, so as to adjust the rearview mirror or control the vehicle's brakes. When the narrow area cannot be passed and exceeds the set safety distance threshold, the vehicle's brakes can be controlled in time, and then the rearview mirrors can be adjusted or a reminder can be given that the vehicle cannot pass, thereby effectively preventing vehicle scratches in narrow areas.

[0112] In another feasible implementation, step S30 may include steps C11 to C14:

[0113] Step C11, when the vehicle driving state is to keep the vehicle driving, a voice broadcast and text display indicate that the vehicle can pass through a narrow area, the rearview mirror is allowed to be unfolded, and a light warning is performed;

[0114] It is understandable that by integrating voice, visual and light warnings, the driver can be reminded of the current driving status and necessary operations in multiple dimensions, ensuring that the driver remains alert and responsive in complex environments, and has a clearer understanding of the vehicle's driving status and surrounding environment, reducing the risk of accidents caused by inattention or misjudgment.

[0115] Step C12, when the vehicle is in the state of braking and folding the rearview mirror, a voice announcement and a text display indicate that the vehicle is too close to a narrow area, and that the vehicle will be safely passed after the rearview mirror is folded, and a light warning is given;

[0116] It is understandable that in order to avoid scratches caused by the inability to control the vehicle and fold the rearview mirrors in time when the vehicle is too close to a narrow area, the system will take over and stop the vehicle, and pass safely after folding the rearview mirrors, avoiding scratches and losses, thereby improving user satisfaction.

[0117] Step C13, when the vehicle driving state is to keep the rearview mirror folded while the vehicle is driving, a voice broadcast and text display indicate that the vehicle has passed through a narrow area, the rearview mirror begins to unfold, the vehicle anti-scratch function continues to serve you, and a light warning is given;

[0118] Understandably, there will also be prompts after passing through a narrow area. Clear voice and text prompts enhance the driver's confidence in avoiding scratches when driving in narrow areas and improve the comfort of the driving process.

[0119] Step C14, when the vehicle is in a driving state where it is unable to stop the vehicle through a narrow area, a voice announcement and text display indicate that the area ahead is too narrow and there is a risk of scratching, and a light warning is given.

[0120] Understandably, the light warning not only alerts the driver but also other road users, thereby improving the efficiency of vehicles passing through narrow areas and reducing traffic congestion.

[0121] The present embodiment proposes a rearview mirror anti-scratch control method, which obtains the necessary width of a narrow area, the target width of the vehicle and the necessary width of the vehicle; determines the vehicle passing state and the scratch state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; adjusts the vehicle rearview mirror based on the vehicle passing state and the scratch state to determine the vehicle driving state, and controls the vehicle based on the vehicle driving state to trigger a vehicle anti-scratch warning. The invention solves the technical problem of how to perform anti-scratch control of rearview mirrors to prevent scratches in narrow areas in a more timely manner. Compared with the existing technology, the present application actively senses the surrounding environment information through integrated sensors, analyzes the size data of the vehicle and the narrow area, intelligently judges the vehicle's passing status and scratch risk, automatically controls the vehicle to adjust the rearview mirror, timely and intelligently folds or unfolds the rearview mirror and triggers an early warning, so that the vehicle can fold the rearview mirror in time to prevent scratch and collision accidents when passing through a narrow area where the rearview mirror is prone to scratches, and can intelligently and automatically complete the unfolding operation of the rearview mirror when completely passing through the narrow area. When passing through an extremely narrow area, it senses the size of the drivable area compared to the size limit of the vehicle body, that is, when the folded rearview mirror cannot pass, and promptly warns the driver of the risk of scratching the rearview mirror through voice broadcast in the car, informs the driver in advance of the possible scratch or even collision risk, and can actively take over the braking of the vehicle and warn the driver when the smart parking function is turned on, greatly improving the safety of vehicle use, reducing property loss, and reducing driver fatigue, while increasing the interactive experience of intelligent technology in the car.

[0122] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated later.

[0123] In this embodiment, refer to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the rearview mirror anti-scratch control method of the present application, wherein step S20 specifically includes steps S21 to S23:

[0124] Step S21, obtaining a target perceived bandwidth;

[0125] It should be noted that the target perception bandwidth reflects the characteristics of an artificially preset deviation threshold for vehicle width perception.

[0126] It can be understood that the target perception bandwidth can characterize the specific frequency range or signal strength range that the system focuses on when performing environmental perception, thereby obtaining the size and distance of the detected obstacles or narrow areas, more accurately identifying obstacles and narrow areas around the vehicle, improving the accuracy of perception, ensuring that the vehicle passes through narrow areas safely, and reducing the risk of accidents.

[0127] For ease of understanding, obtaining target perceived bandwidth is taken as an example for explanation, wherein the information collection device is an information collection module, the storage device is a memory, and the processing device is a processing module.

[0128] The information acquisition module detects the width of the narrow area when performing environmental perception. If it meets the preset narrow area width range, it is determined to belong to a narrow area. At this time, the target perception bandwidth Δw generated in the detection is obtained, the target perception bandwidth is stored in the memory, and subsequent processing is performed based on the target perception bandwidth.

[0129] Step S22, obtaining a vehicle passing state based on the target perception bandwidth, the required width of the narrow area, the target width of the vehicle, and the required width of the vehicle;

[0130] It is understandable that the vehicle passing status can indicate whether the vehicle needs to adjust the rearview mirror, such as unfolding the rearview mirror and folding the rearview mirror, so as to safely pass through narrow areas, effectively avoid vehicle damage caused by scratches, and reduce maintenance costs and property losses.

[0131] For ease of understanding, the vehicle passing status is taken as an example for explanation, wherein the information collection device is the information collection module, the storage device is the memory, and the processing device is the processing module.

[0132] The information acquisition module obtains the necessary width w0 of the narrow area and the target width w of the vehicle max , get the necessary width w of the vehicle min, obtain the target perception bandwidth Δw, and obtain the vehicle passing state based on the target perception bandwidth, the required width of the narrow area, the target width of the vehicle and the required width of the vehicle.

[0133] When the sum of the target perception bandwidth and the ego vehicle target width is not less than the necessary width of the narrow area or the sum of the target perception bandwidth and the ego vehicle necessary width is less than the necessary width of the narrow area, that is, if the following conditions are met:

[0134]

[0135] The vehicle passing state is determined as the vehicle folding rearview mirror, which means that the vehicle is allowed to pass through the narrow area.

[0136] When the sum of the target perception bandwidth and the ego vehicle target width is lower than the necessary width of the narrow area, and when the sum of the target perception bandwidth and the ego vehicle necessary width is lower than the necessary width of the narrow area, that is, if the following conditions are satisfied:

[0137] W max +ΔW <W0

[0138] The vehicle passing state is determined as the vehicle being allowed to pass through the narrow area without adjusting the rearview mirror.

[0139] When the sum of the target perception bandwidth and the necessary width of the vehicle is not less than the necessary width of the narrow area, that is, if:

[0140] W min +ΔW≥W0

[0141] The vehicle passing state is determined to be not allowed to pass through the narrow area.

[0142] Subsequent processing is performed based on the vehicle passing status.

[0143] In a feasible implementation, step S22 may include steps D11 to D13:

[0144] Step D11, when the sum of the target perception bandwidth and the vehicle target width is not less than the required width of the narrow area or the sum of the target perception bandwidth and the vehicle required width is less than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle rearview mirror is folded, that is, the vehicle is allowed to pass through the narrow area;

[0145] It is understandable that the system can intelligently determine whether the rearview mirrors need to be folded based on the size of the vehicle and the narrow area, reducing scratches and collisions caused by failure to adjust the rearview mirrors in a timely manner and improving the safety of the vehicle when driving in narrow areas.

[0146] Step D12, when the sum of the target perception bandwidth and the vehicle target width is lower than the required width of the narrow area, and when the sum of the target perception bandwidth and the vehicle required width is lower than the required width of the narrow area, determining that the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror;

[0147] It can be understood that by accurately determining in advance whether the vehicle can pass through the narrow area without adjusting the rearview mirror, the efficiency of the vehicle passing through the narrow area is improved.

[0148] Step D13, when the sum of the target perception bandwidth and the required width of the vehicle is not less than the required width of the narrow area, it is determined that the vehicle passing state is not allowed to pass through the narrow area.

[0149] It can be understood that by accurately determining that the vehicle cannot pass through the narrow area and timely controlling the vehicle braking, the vehicle damage caused by the accident is reduced, thereby reducing the maintenance cost and property loss. The strategy can be flexibly adjusted according to different narrow areas and vehicle conditions, thereby enhancing the adaptability and reliability of the system.

[0150] Step S23, judging the scratch risk based on the vehicle passing state, performing a vehicle anti-scratch operation to obtain a scratch state, wherein the vehicle anti-scratch operation includes unfolding a rearview mirror, closing a rearview mirror, and braking to stop the vehicle.

[0151] It can be understood that the vehicle passing status can indicate whether the vehicle needs to adjust the rearview mirror, such as unfolding and folding the rearview mirror, in order to safely pass through a narrow area, and the scratch status can indicate the risk of the vehicle scratching the surrounding environment. By accurately evaluating the vehicle passing status and scratch status, timely measures can be taken to prevent potential scratch accidents, significantly improving the safety of the vehicle driving in narrow areas, effectively avoiding vehicle damage caused by scratches, and reducing maintenance costs and property losses.

[0152] For ease of understanding, the scratch status is taken as an example for explanation, wherein the information collection device is the information collection module, the storage device is the memory, and the processing device is the processing module.

[0153] The information collection module obtains the necessary width w0 of the narrow area and the target width w of the vehicle max , get the necessary width w of the vehicle min , obtain the target perception bandwidth Δw, and obtain the vehicle passing status based on the target perception bandwidth, the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle, such as the vehicle passing status is that the vehicle is allowed to pass through the narrow area when the rearview mirror is folded, the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, and the vehicle is not allowed to pass through the narrow area.

[0154] When the vehicle passing status is that the vehicle folds the rearview mirrors, that is, it is allowed to pass through a narrow area, the vehicle folds the rearview mirrors to determine the rearview mirror adjustment status. If the rearview mirror adjustment status is that the vehicle successfully folds the rearview mirrors, the scratch status is that there is no scratch risk. Otherwise, the scratch status is that there is a scratch risk, that is, the system determines that the vehicle can pass safely with the rearview mirrors folded in the current narrow area, and there is a risk of scratching the rearview mirrors when the vehicle rearview mirrors are unfolded and pass. At this time, the intelligent driving domain control SOC will output the analysis result as a request for the decision to fold the rearview mirrors during the use of the assisted walking and parking functions or during human driving to the intelligent driving domain control MCU. The domain control MCU converts the decision request for folding the rearview mirrors output by the intelligent driving domain control SOC into an analog control electrical signal, and transmits it to the body domain control module to control the folding of the rearview mirrors.

[0155] When the vehicle passing state is that the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, the vehicle is controlled to unfold the rearview mirror, and the scratch state is that there is no scratch risk, that is, the system determines that the current vehicle has passed through the narrow area, and there is no risk of scratching the rearview mirror even if the vehicle's rearview mirror is unfolded to pass through. At this time, the intelligent driving domain control SOC will output the analysis result as a request for a decision to unfold the rearview mirror during the use of the assisted walking and parking functions or during human driving to the intelligent driving domain control MCU. The domain control MCU converts the decision request for unfolding the rearview mirror output by the intelligent driving domain control SOC into an analog control electrical signal, and transmits it to the body domain control module to control the unfolding of the rearview mirror.

[0156] When the vehicle passing state is that it is not allowed to pass through a narrow area, the vehicle is controlled to brake and stop, and the scratching state is that there is a risk of scratching.

[0157] Subsequent processing is performed based on the scratch status.

[0158] In a feasible implementation, step S23 may include steps E11 to E13:

[0159] Step E11, when the vehicle passing state is that the vehicle folds the rearview mirror, that is, it is allowed to pass through the narrow area, control the vehicle to fold the rearview mirror to determine the rearview mirror adjustment state, if the rearview mirror adjustment state is that the vehicle successfully folds the rearview mirror, then the scratch state is no scratch risk, otherwise, the scratch state is with scratch risk;

[0160] It is understandable that when the system determines that the vehicle's passing status requires folding the rearview mirrors to pass through a narrow area, it will automatically control the vehicle to fold the rearview mirrors. At this time, the scratch status is determined based on whether the rearview mirrors are successfully folded. If the rearview mirrors are successfully folded, the system determines that there is no scratch risk; if they are not successfully folded, there is a scratch risk, which reduces scratch accidents caused by driver operation delays or errors and improves driving safety.

[0161] Step E12, when the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, controlling the vehicle to unfold the rearview mirror, and the scratch state is that there is no scratch risk;

[0162] It can be understood that when the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, it indicates that the current narrow area is wide enough and the vehicle can pass through regardless of whether the rearview mirror is adjusted. Therefore, the deployment of the rearview mirror can be automatically controlled to quickly respond to the passing needs of the narrow area and meet the needs of the driver, thereby improving the efficiency of the vehicle passing through narrow areas and user satisfaction.

[0163] Step E13, when the vehicle passing state is that it is not allowed to pass through the narrow area, control the vehicle to brake and stop, and the scratch state is that there is a risk of scratching.

[0164] It is understandable that when the vehicle cannot pass through a narrow area, the braking and stopping mechanism will be automatically triggered, and the driver will be clearly informed of the current risk status, effectively avoiding collisions or scratches in narrow areas, significantly improving driving safety, and quickly responding to emergencies. When the distance between the vehicle and the narrow area is less than the safe distance, the vehicle can brake and stop in time, reducing reaction time, improving emergency handling efficiency, and performing preventive braking and stopping, reducing property losses and possible personal injuries caused by accidents, and providing additional safety protection for drivers and passengers.

[0165] The present embodiment proposes a rearview mirror anti-scratch control method, which obtains the target perception bandwidth; obtains the vehicle passing state based on the target perception bandwidth, the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; and determines the risk of scratching based on the vehicle passing state and performs the vehicle anti-scratch operation to obtain the scratch state, wherein the vehicle anti-scratch operation includes unfolding the rearview mirror, closing the rearview mirror and braking to stop. The technical problem of how to efficiently and accurately perform rearview mirror anti-scratch control to prevent scratches in narrow areas is solved. Compared with the prior art, the present application automatically adjusts the rearview mirror state by accurately measuring and intelligently determining the relative size of the vehicle and the narrow area, and performs anti-scratch operations such as braking to stop when necessary, which effectively improves the safety of vehicle driving in narrow areas, reduces accidents and property losses caused by rearview mirror scratches, and improves the convenience and sense of technology of driving.

[0166] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the anti-scratch control method for rearview mirrors of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0167] For example, in order to help understand the implementation process of the rearview mirror anti-scratch control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 4 , Figure 4A brief flow chart of a rearview mirror anti-scratch control method is provided, specifically:

[0168] This application combines the environmental data collected by sensors such as cameras, ultrasonic radars, and laser radars, and uses the intelligent driving domain control multi-sensor fusion environment perception algorithm to calculate the intelligent decision-making in real time to control the folding or unfolding time of the rearview mirror, and cooperates with the body domain control and the execution side of the associated parts to timely and intelligently fold or unfold the rearview mirror, and take over the vehicle in advance to warn the driver. In addition, while considering the realization of convenient and efficient functional goals, the present invention designs interactive methods such as external light warnings, internal HMI display prompts, and internal voice broadcasts, taking into account the different levels of interactive experience with the driver or other traffic participants in terms of vision, hearing, and touch, greatly enhancing the driver's safety, convenience, and technological experience in the process of daily use of the car through narrow areas. Referring to Example 1, the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle are obtained; the vehicle passing state and the scratching state are determined based on the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle; the vehicle rearview mirror is adjusted based on the vehicle passing state and the scratching state to determine the vehicle driving state, and the vehicle is controlled based on the vehicle driving state to trigger the vehicle anti-scratch warning. Referring to Example 2, a target perception bandwidth is obtained; a vehicle passing state is obtained based on the target perception bandwidth, the required width of the narrow area, the target width of the vehicle and the required width of the vehicle; a scratch risk is determined based on the vehicle passing state to perform a vehicle anti-scratch operation to obtain a scratch state, wherein the vehicle anti-scratch operation includes unfolding a rearview mirror, closing a rearview mirror and braking to stop the vehicle.

[0169] This application also provides a rearview mirror anti-scratch control device, please refer to Figure 5 , the rearview mirror anti-scratch control device comprises:

[0170] Acquisition module 10, for the necessary width of the narrow area, the target width of the ego vehicle and the necessary width of the ego vehicle;

[0171] A processing module 20, configured to determine a vehicle passing state and a scratching state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle;

[0172] The execution module 30 is used to adjust the vehicle rearview mirror to determine the vehicle driving state based on the vehicle passing state and the scratch state, and control the vehicle to trigger the vehicle anti-scratch warning based on the vehicle driving state.

[0173] The acquisition module 10 is further used to acquire the perceived environment information and the sensor fusion algorithm, wherein the perceived environment information includes camera perception information, laser radar perception information and ultrasonic radar perception information;

[0174] The sensor fusion algorithm is used to analyze the perceived environment information to determine the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle.

[0175] The processing module 20 is also used to obtain the target perception bandwidth;

[0176] Obtaining a vehicle passing state based on the target perception bandwidth, the narrow area required width, the ego vehicle target width, and the ego vehicle required width;

[0177] The vehicle anti-scratch operation is performed based on the vehicle passing state to determine the scratch risk and obtain the scratch state. The vehicle anti-scratch operation includes unfolding the rearview mirror, closing the rearview mirror and braking to stop the vehicle.

[0178] The processing module 20 is further configured to determine that the vehicle passing state is that the vehicle rearview mirror is folded, i.e., the vehicle is allowed to pass through the narrow area when the sum of the target perception bandwidth and the vehicle target width is not less than the required width of the narrow area or the sum of the target perception bandwidth and the vehicle required width is less than the required width of the narrow area;

[0179] When the sum of the target perception bandwidth and the vehicle target width is lower than the required width of the narrow area, and when the sum of the target perception bandwidth and the vehicle required width is lower than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror;

[0180] When the sum of the target perception bandwidth and the required width of the own vehicle is not less than the required width of the narrow area, it is determined that the vehicle passing state is not allowed to pass through the narrow area.

[0181] The processing module 20 is further configured to control the vehicle to fold the rearview mirror to determine the rearview mirror adjustment state when the vehicle passing state is that the vehicle folds the rearview mirror, i.e., the vehicle is allowed to pass through a narrow area. If the rearview mirror adjustment state is that the vehicle successfully folds the rearview mirror, the scratch state is that there is no scratch risk; otherwise, the scratch state is that there is a scratch risk.

[0182] When the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, the vehicle is controlled to unfold the rearview mirror, and the scratch state is that there is no scratch risk;

[0183] When the vehicle passing state is that it is not allowed to pass through a narrow area, the vehicle is controlled to brake and stop, and the scratching state is that there is a risk of scratching.

[0184] The execution module 30 is further used to obtain the target time, the perceived narrow area distance and the target narrow area distance;

[0185] When the vehicle passing state is that the vehicle folds the rearview mirrors, that is, the vehicle is allowed to pass through the narrow area and the scratch state is that there is no risk of scratching, if the perceived narrow area distance is not greater than the target narrow area distance, the vehicle driving state is to brake the vehicle and fold the rearview mirrors, otherwise, the vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving;

[0186] When the vehicle passing state is that the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, the vehicle driving state is to keep the vehicle driving;

[0187] When the vehicle passing state is not allowed to pass through the narrow area or the scratch state is with the risk of scratching, the vehicle is stopped based on the target time or when the perceived narrow area distance is not greater than the target narrow area distance, and the vehicle driving state is unable to stop the vehicle by passing through the narrow area.

[0188] The execution module 30 is further configured to, when the vehicle driving state is to keep the vehicle driving, broadcast a voice message and display text that the vehicle can pass through a narrow area, allow the rearview mirror to be unfolded, and provide a light warning;

[0189] When the vehicle is in the state of braking and folding the rearview mirror, the voice broadcast and text display indicate that the vehicle is too close to the narrow area, and the vehicle will be safely passed after the rearview mirror is folded, and a light warning will be given;

[0190] When the vehicle is in the driving state of keeping the rearview mirror folded while the vehicle is moving, the voice broadcast and text display indicate that the vehicle has passed through a narrow area, the rearview mirror begins to unfold, the vehicle's anti-scratch function continues to serve you, and a light warning is given;

[0191] When the vehicle is in a driving state where it is unable to stop the vehicle through a narrow area, a voice announcement and text display indicate that the area ahead is too narrow and there is a risk of scratches, and a light warning is given.

[0192] The rearview mirror anti-scratch control device provided by the present application adopts the rearview mirror anti-scratch control method in the above embodiment, which can solve the technical problem of how to fold the rearview mirror in a narrow area in time so as to more efficiently and accurately control the rearview mirror anti-scratch. Compared with the prior art, the beneficial effects of the rearview mirror anti-scratch control device provided by the present application are the same as the beneficial effects of the rearview mirror anti-scratch control method provided by the above embodiment, and other technical features of the rearview mirror anti-scratch control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0193] The present application provides a rearview mirror anti-scratch control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the rearview mirror anti-scratch control method in the above-mentioned embodiment one.

[0194] Reference below Figure 6 , which shows a schematic diagram of the structure of a rearview mirror anti-scratch control device suitable for implementing the embodiment of the present application. The rearview mirror anti-scratch control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The rearview mirror anti-scratch control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0195] like Figure 6As shown, the rearview mirror anti-scratch control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the rearview mirror anti-scratch control device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the rearview mirror anti-scratch control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a rearview mirror anti-scratch control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0196] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0197] The rearview mirror anti-scratch control device provided by the present application adopts the rearview mirror anti-scratch control method in the above embodiment, which can solve the technical problem of how to fold the rearview mirror in a narrow area in time so as to more efficiently and accurately control the rearview mirror anti-scratch. Compared with the prior art, the beneficial effects of the rearview mirror anti-scratch control device provided by the present application are the same as the beneficial effects of the rearview mirror anti-scratch control method provided by the above embodiment, and the other technical features of the rearview mirror anti-scratch control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0198] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0199] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0200] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the rearview mirror anti-scratch control method in the above-mentioned embodiment.

[0201] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0202] The computer-readable storage medium may be included in the rearview mirror anti-scratch control device; or may exist independently without being assembled into the rearview mirror anti-scratch control device.

[0203] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the rearview mirror anti-scratch control device, the rearview mirror anti-scratch control device: obtains the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; determines the vehicle passing state and the scratch state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; adjusts the vehicle rearview mirror based on the vehicle passing state and the scratch state to determine the vehicle driving state, and controls the vehicle based on the vehicle driving state to trigger the vehicle anti-scratch warning.

[0204] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0205] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0206] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0207] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned rearview mirror anti-scratch control method, and can solve the technical problem of how to fold the rearview mirror in a narrow area in time so as to more efficiently and accurately control the rearview mirror anti-scratch. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the rearview mirror anti-scratch control method provided by the above-mentioned embodiment, and will not be repeated here.

[0208] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A rearview mirror anti-scratch control method, characterized in that: The method includes: Obtain the necessary width of the narrow area, the target width of the ego vehicle, and the necessary width of the ego vehicle; determining a vehicle passing state and a vehicle scratching state based on the narrow area required width, the own vehicle target width, and the own vehicle required width; The vehicle rearview mirror is adjusted based on the vehicle passing state and the scratch state to determine the vehicle driving state, and the vehicle is controlled based on the vehicle driving state to trigger a vehicle anti-scratch warning.

2. The method according to claim 1, characterized in that The step of obtaining the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle comprises: Acquire perceived environment information and a sensor fusion algorithm, wherein the perceived environment information includes camera perception information, laser radar perception information, and ultrasonic radar perception information; The sensor fusion algorithm is used to analyze the perceived environment information to determine the necessary width of the narrow area, the target width of the vehicle, and the necessary width of the vehicle.

3. The method according to claim 1, characterized in that The step of determining the vehicle passing state and the vehicle scratching state based on the narrow area required width, the vehicle target width and the vehicle required width includes: Get the target perceived bandwidth; Obtaining a vehicle passing state based on the target perception bandwidth, the narrow area required width, the ego vehicle target width, and the ego vehicle required width; The vehicle anti-scratch operation is performed based on the vehicle passing state to determine the scratch risk and obtain the scratch state. The vehicle anti-scratch operation includes unfolding the rearview mirror, closing the rearview mirror and braking to stop the vehicle.

4. The method according to claim 3, characterized in that The step of obtaining the vehicle passing state based on the target perception bandwidth, the narrow area required width, the vehicle target width and the vehicle required width comprises: When the sum of the target perception bandwidth and the vehicle target width is not less than the required width of the narrow area or the sum of the target perception bandwidth and the vehicle required width is less than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle rearview mirror is folded, that is, the vehicle is allowed to pass through the narrow area; When the sum of the target perception bandwidth and the vehicle target width is lower than the required width of the narrow area, and when the sum of the target perception bandwidth and the vehicle required width is lower than the required width of the narrow area, it is determined that the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror; When the sum of the target perception bandwidth and the required width of the own vehicle is not less than the required width of the narrow area, it is determined that the vehicle passing state is not allowed to pass through the narrow area.

5. The method according to claim 3, characterized in that The step of determining the risk of scratching the vehicle based on the passing state of the vehicle and performing the vehicle anti-scratch operation to obtain the scratching state includes: When the vehicle passing state is that the vehicle folds the rearview mirror, i.e., the vehicle is allowed to pass through the narrow area, the rearview mirror of the vehicle is controlled to be folded to determine the rearview mirror adjustment state. If the rearview mirror adjustment state is that the vehicle successfully folds the rearview mirror, the scratch state is that there is no scratch risk. Otherwise, the scratch state is that there is a scratch risk. When the vehicle passing state is that the vehicle is allowed to pass through the narrow area without adjusting the rearview mirror, the vehicle is controlled to unfold the rearview mirror, and the scratch state is that there is no scratch risk; When the vehicle passing state is that it is not allowed to pass through a narrow area, the vehicle is controlled to brake and stop, and the scratching state is that there is a risk of scratching.

6. The method according to claim 1, characterized in that The step of adjusting the vehicle rearview mirror to determine the vehicle driving state based on the vehicle passing state and the scratching state comprises: Obtain target time, perceived narrow area distance and target narrow area distance; When the vehicle passing state is that the vehicle folds the rearview mirrors, that is, the vehicle is allowed to pass through the narrow area and the scratch state is that there is no risk of scratching, if the perceived narrow area distance is not greater than the target narrow area distance, the vehicle driving state is to brake the vehicle and fold the rearview mirrors, otherwise, the vehicle driving state is to keep the rearview mirrors folded while the vehicle is driving; When the vehicle passing state is that the vehicle is allowed to pass through a narrow area without adjusting the rearview mirror, the vehicle driving state is to keep the vehicle driving; When the vehicle passing state is not allowed to pass through the narrow area or the scratch state is with the risk of scratching, the vehicle is stopped based on the target time or when the perceived narrow area distance is not greater than the target narrow area distance, and the vehicle driving state is unable to stop the vehicle by passing through the narrow area.

7. The method according to claim 1, characterized in that The step of controlling the vehicle to trigger a vehicle anti-scratch warning based on the vehicle driving state comprises: When the vehicle driving state is to keep the vehicle moving, the voice broadcast and text display indicate that the vehicle can pass through the narrow area, the rearview mirror is allowed to be deployed, and a light warning is given; When the vehicle is in the state of braking and folding the rearview mirror, the voice broadcast and text display indicate that the vehicle is too close to the narrow area, and the vehicle will be safely passed after the rearview mirror is folded, and a light warning will be given; When the vehicle is in the driving state of keeping the rearview mirror folded while the vehicle is moving, the voice broadcast and text display indicate that the vehicle has passed through a narrow area, the rearview mirror begins to unfold, the vehicle's anti-scratch function continues to serve you, and a light warning is given; When the vehicle is in a driving state where it is unable to stop the vehicle through a narrow area, a voice announcement and text display indicate that the area ahead is too narrow and there is a risk of scratches, and a light warning is given.

8. A rearview mirror anti-scratch control device, characterized in that: The device comprises: Acquisition module for necessary width in narrow area, target width of ego vehicle and necessary width of ego vehicle; A processing module, configured to determine a vehicle passing state and a scratching state based on the necessary width of the narrow area, the target width of the vehicle and the necessary width of the vehicle; The execution module is used to adjust the vehicle rearview mirror based on the vehicle passing state and the scratching state to determine the vehicle driving state, and control the vehicle to trigger the vehicle anti-scratch warning based on the vehicle driving state.

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

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the rearview mirror anti-scratch control method according to any one of claims 1 to 7 are implemented.

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