Automatic avoiding folding method for outside rear-view mirror, related device and vehicle

Abstract

The invention provides an automatic avoiding folding method for an outside rear-view mirror. The automatic avoiding folding method comprises the steps that the movement track of a moving object close to the outside rear-view mirror is obtained; determining a collision point position and a collision included angle between the movement track and the outside rear-view mirror; and determining an avoidance folding angle of the exterior rearview mirror based on the collision included angle, the collision point location and a pre-stored length of the exterior rearview mirror so as to control the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle. According to the method, the movement track of the moving object close to the outside rear-view mirror is obtained, the collision point position and the collision included angle of the moving object and the outside rear-view mirror are determined based on the movement track, and the avoiding folding angle of the outside rear-view mirror is determined on the basis, so that the outside rear-view mirror is controlled to be subjected to avoiding folding according to the avoiding folding angle; and a moving object is prevented from impacting the outside rear-view mirror.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method for automatic avoidance and folding of an exterior rearview mirror, a related device and a vehicle. Background Art

[0002] Most of the existing vehicle exterior mirrors are folded manually or after the vehicle is locked. When the exterior mirror is fully unfolded, if it is hit by an obstacle, the mechanical structure and motor of the exterior mirror will be damaged, affecting the normal use of the exterior mirror. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a method, related device and vehicle for automatic avoidance and folding of exterior rearview mirrors, so as to solve the problem that when the exterior rearview mirrors are hit by obstacles in the unfolded state, they cannot avoid them in time and are damaged.

[0004] Based on the above purpose, the present application provides a method for automatically avoiding and folding an exterior rearview mirror, comprising:

[0005] Obtaining a motion trajectory of a moving object approaching an exterior rearview mirror;

[0006] Determining a collision point and a collision angle between the motion trajectory and the exterior rearview mirror;

[0007] The avoidance folding angle of the exterior rearview mirror is determined based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle.

[0008] Further, the step of determining the avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point, and the pre-stored length of the exterior rearview mirror includes:

[0009] Determining a fully folded point where a free end of the exterior rearview mirror is located when the exterior rearview mirror is fully folded based on the length of the exterior rearview mirror and the folding point of the exterior rearview mirror;

[0010] Determine the angle between the line connecting the fully folding point and the collision point and the exterior rearview mirror as the limit angle;

[0011] In response to determining that the collision angle is less than or equal to the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a preset full folding angle;

[0012] In response to determining that the collision angle is greater than the limit angle, the avoidance folding angle of the exterior rearview mirror is determined to be a partial folding angle.

[0013] Further, in response to determining that the collision angle is greater than the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a partial folding angle includes:

[0014] In response to determining that the collision angle is greater than the limit angle, determining a lateral distance between the collision point and a folding point of the exterior rearview mirror;

[0015] The avoidance folding angle is determined based on the collision angle, the lateral distance and the length of the exterior rearview mirror, and the avoidance folding angle is a partial folding angle.

[0016] Furthermore, the method further comprises:

[0017] Obtaining a vertical distance between the moving object and the exterior rearview mirror;

[0018] In response to determining that the vertical distance is less than or equal to a preset distance, obtaining a vertical speed and a vertical acceleration of the moving object;

[0019] Determine the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement in the same direction as the vehicle's moving direction and backward movement in the opposite direction to the vehicle's moving direction;

[0020] In response to determining that the direction of movement is forward movement, determining an avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle, and a pre-stored length of the exterior rearview mirror;

[0021] In response to determining that the movement direction is backward movement, determining an avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the avoidance folding angle;

[0022] In response to determining that the vertical distance is equal to the avoidance distance, the exterior rearview mirror is controlled to perform avoidance folding according to the avoidance folding angle.

[0023] Furthermore, the step of obtaining the motion trajectory of the moving object approaching the exterior rearview mirror includes:

[0024] In response to determining that the vehicle speed is less than a preset value and the exterior rearview mirror is in an unfolded state, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror is performed.

[0025] Furthermore, the determining of the collision point and collision angle between the motion trajectory and the exterior rearview mirror includes:

[0026] Determine the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement in the same direction as the vehicle's moving direction and backward movement in the opposite direction to the vehicle's moving direction;

[0027] In response to determining that the movement direction is forward movement, determining that an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror is a collision angle;

[0028] In response to determining that the movement direction is backward movement, the angle between the side of the movement trajectory away from the folding point of the exterior rearview mirror and the exterior rearview mirror is determined to be a collision angle.

[0029] Further, the determining the avoidance folding angle based on the collision angle, the lateral distance and the length of the exterior rearview mirror includes:

[0030]

[0031] Wherein: σ is the avoidance folding angle; θ is the collision angle; y is the lateral distance; and x is the length of the exterior rearview mirror.

[0032] Further, in response to determining that the moving direction is forward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle, and the pre-stored length of the exterior rearview mirror includes:

[0033]

[0034] Wherein: S is the avoidance distance; x is the length of the exterior rearview mirror; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

[0035] Further, in response to determining that the movement direction is backward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the avoidance folding angle includes:

[0036]

[0037] Wherein: S is the avoidance distance; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

[0038] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0039] Based on the same inventive concept, the present application also provides a vehicle, comprising the electronic device as described above.

[0040] From the above, it can be seen that the present application provides a method for automatic avoidance and folding of exterior rearview mirrors. The method obtains the motion trajectory of a moving object approaching the exterior rearview mirror, analyzes the motion trajectory, determines the collision point and collision angle between the moving object and the exterior rearview mirror when the exterior rearview mirror is not avoidance and folding, and on this basis determines the avoidance and folding angle of the exterior rearview mirror in combination with the pre-stored length analysis of the exterior rearview mirror, so that the exterior rearview mirror is avoidance and folding according to the avoidance and folding angle, thereby achieving avoidance of the moving object and preventing the moving object from colliding with and damaging the exterior rearview mirror, thereby achieving the technical effect of automatically folding and avoiding the moving object when the exterior rearview mirror is in the unfolded state, which is beneficial to realizing the intelligence of the exterior rearview mirror while also helping to improve the service life of the exterior rearview mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A schematic diagram of a flow chart of a method for automatically avoiding and folding an exterior rearview mirror according to an embodiment of the present application;

[0043] Figure 2 The motion trajectory of the moving object in the embodiment of the present application is shown in the coordinate system of the fully unfolded exterior rearview mirror. Figure 1 ;

[0044] Figure 3 The motion trajectory of the moving object in the embodiment of the present application is shown in the coordinate system of the fully unfolded exterior rearview mirror. Figure 2 ;

[0045] Figure 4 This is a schematic diagram of the structure of a device for automatically avoiding and folding an exterior rearview mirror according to an embodiment of the present application;

[0046] Figure 5 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0048] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0049] With the continuous development and progress of vehicle technology, people's demand for intelligent control of vehicles is also increasing. When the exterior rearview mirror is in a fully unfolded state, if an obstacle approaches the exterior rearview mirror (it may also be the exterior rearview mirror close to the obstacle, but for the exterior rearview mirror, it is always the obstacle close to the exterior rearview mirror) and is about to hit the exterior rearview mirror, the exterior rearview mirror cannot automatically avoid folding to avoid the impact of the obstacle, which will cause the exterior rearview mirror to be damaged, affecting the normal driving and use of the exterior rearview mirror by the owner.

[0050] As described in the background technology, the folding of exterior mirrors on existing vehicles is mostly controlled manually to control the folding and unfolding of the exterior mirrors. Manual operation of the exterior mirrors to avoid obstacles hitting the exterior mirrors distracts the driver's attention and affects driving safety. In addition, the efficiency of manual avoidance is low. If the driver cannot control the rearview mirrors in time, he cannot avoid obstacles, resulting in damage to the exterior mirrors.

[0051] Based on this, the present application proposes a method, related device and vehicle for automatic avoidance and folding of exterior rearview mirrors, so that the exterior rearview mirrors can identify the running trajectory of obstacles when in the unfolded state, so as to automatically fold to the corresponding avoidance and folding angles, thereby avoiding obstacles and preventing obstacles from damaging the exterior rearview mirrors, thereby increasing the service life of the exterior rearview mirrors.

[0052] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0053] A method for automatically avoiding and folding an exterior rearview mirror is applied to a vehicle controller, such as Figure 1 As shown, including:

[0054] Step S100, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror;

[0055] Specifically, the outside rearview mirror is provided with a monitoring device connected to the vehicle controller. The monitoring device is provided on the front (the side with the lens) and the back (the side without the lens) of the outside rearview mirror to monitor the moving objects approaching the outside rearview mirror. The monitoring device can be set on the top or bottom of the outside rearview mirror. The monitoring device can measure the moving azimuth of the moving object and the distance between the moving object and the monitoring device. When the distance between the moving object and the monitoring device becomes smaller and smaller, the vehicle controller determines that the moving object is a moving object approaching the outside rearview mirror, and controls the monitoring device to obtain the motion trajectory of the moving object. The vehicle controller obtains the motion trajectory of the moving object approaching the outside rearview mirror through the monitoring device.

[0056] It should be noted that if Figure 2 and Figure 3 As shown, the motion trajectory is two-dimensional, that is, the motion trajectory of the moving object in the height direction is not obtained.

[0057] Exemplarily, the monitoring component may be an infrared sensor, a laser radar or other device with a monitoring function.

[0058] Step S200, determining the collision point and collision angle between the motion trajectory and the exterior rearview mirror;

[0059] Specifically, the vehicle controller determines the collision point (the collision point is the position closest to the folding point of the outside rearview mirror when the moving object collides with the outside rearview mirror) where the moving object will collide with the outside rearview mirror if the outside rearview mirror does not perform avoidance folding, and the collision angle (the angle between the motion trajectory and the fully unfolded outside rearview mirror) based on the motion trajectory and the pre-stored coordinate system of the fully unfolded outside rearview mirror (the fully unfolded outside rearview mirror is the X-axis, the folding point of the outside rearview mirror is the origin, and the Y-axis is perpendicular to the X-axis and in the same direction as the fully folding direction of the outside rearview mirror). Figure 2 and Figure 3 As shown, the collision point is point A, and the collision angle is θ.

[0060] It should be noted that when the motion trajectory moves from the side of the exterior rearview mirror having the lens to the collision point, Figure 2 As shown, the collision angle is the angle between the motion trajectory and the exterior rearview mirror, which is close to the folding point of the exterior rearview mirror. When the collision point is located on the side of the exterior rearview mirror without a lens, as shown in FIG. Figure 3As shown, the collision angle θ is the angle between the motion trajectory and the outside rearview mirror that is away from the outside rearview mirror folding point O. According to the principle of equal angles, the motion trajectory is extended to the extension line of the side of the outside rearview mirror with the lens, which is the same as the angle of the outside rearview mirror close to the outside rearview mirror folding point O, both of which are θ.

[0061] Step S300, determining the avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle.

[0062] Specifically, the vehicle controller determines the avoidance folding angle of the outside rearview mirror according to the collision angle, the collision point and the pre-stored length of the outside rearview mirror. That is, the outside rearview mirror is folded according to the avoidance folding angle, which can avoid the moving object from contacting or colliding with the outside rearview mirror, thereby effectively avoiding the outside rearview mirror being damaged by the moving object.

[0063] Exemplarily, the collision angle is 90°, that is, the motion trajectory of the moving object is perpendicular to the exterior rearview mirror in the fully unfolded state, and the collision point is (10, 0), that is, in the coordinate system when the exterior rearview mirror is fully unfolded (with the fully unfolded exterior rearview mirror as the horizontal coordinate), the distance between the collision point and the folding point of the exterior rearview mirror is 10 cm, and the length of the pre-stored exterior rearview mirror is 20 cm. Then, the vehicle controller calculates the avoidance folding angle as: cos -1 (10 / 20)=60°.

[0064] In this embodiment, the motion trajectory of a moving object approaching the outside rearview mirror is obtained, the motion trajectory is analyzed, and the collision point and collision angle between the moving object and the outside rearview mirror when the outside rearview mirror is not avoidance folded are determined. On this basis, the avoidance folding angle of the outside rearview mirror is determined in combination with the pre-stored length analysis of the outside rearview mirror. The outside rearview mirror is avoidance folded according to the avoidance folding angle, which can achieve avoidance of the moving object and prevent the moving object from colliding with and damaging the outside rearview mirror. The technical effect of automatically folding the outside rearview mirror to avoid the moving object when it is in the unfolded state is achieved, which is beneficial to realizing the intelligence of the outside rearview mirror while also helping to increase the service life of the outside rearview mirror.

[0065] In some embodiments, step S300: determining the avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror includes:

[0066] Step S301, determining the fully folded point where the free end of the exterior rearview mirror is located when the exterior rearview mirror is fully folded based on the length of the exterior rearview mirror and the folded point of the exterior rearview mirror;

[0067] Specifically, the vehicle controller determines, in a pre-stored coordinate system of the outside rearview mirror, the fully folded point of the free end of the outside rearview mirror when it is fully folded based on the length of the outside rearview mirror and the fully folded angle of the outside rearview mirror, so as to subsequently determine the avoidance folding angle of the outside rearview mirror.

[0068] For example, Figure 2 As shown, the fully unfolded exterior rearview mirror is the horizontal coordinate, the folding point O of the exterior rearview mirror is the origin, the length of the exterior rearview mirror is 20 cm, the fully folding angle of the exterior rearview mirror is 90°, and the fully folded exterior rearview mirror is the vertical coordinate. When the exterior rearview mirror is fully folded, the coordinates of the fully folded point (i.e., point B' in the figure) at which the free end of the exterior rearview mirror is located are (0, 20).

[0069] Step S302, determining the angle between the line connecting the fully folding point and the collision point and the exterior rearview mirror as the limit angle;

[0070] Specifically, the vehicle controller calculates the limit angle based on the fully folding point and the collision point in a pre-stored coordinate system of the exterior rearview mirror.

[0071] For example, Figure 2 As shown, the vehicle controller uses the fully unfolded exterior mirror as the horizontal coordinate in the pre-stored coordinate system of the exterior mirror, the fully folded angle of the exterior mirror is 90°, the fully folded exterior mirror is the vertical coordinate, the coordinate of the fully folded point B' is (0, 20), and the coordinate of the collision point A is (10, 0). Then, according to the sine theorem, the limit angle β is calculated as tan -1 (20 / 10)=54.7°.

[0072] For example, the fully folded angle of the exterior rearview mirror is 80°, the collision point coordinates are known to be (10, 0), and the length of the exterior rearview mirror is 20, then the limit angle β is calculated as: tan -1 ((20-10*sin10°) / 10*cos10°)+10°.

[0073] Step S303, in response to determining that the collision angle is less than or equal to the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a preset full folding angle;

[0074] Specifically, Figure 3As shown, when the collision angle is less than or equal to the limit angle (∠θ≤∠β), the outside rearview mirror cannot avoid the collision with the moving object even if it is fully folded. In order to reduce the impact damage of the moving object to the outside rearview mirror, the outside rearview mirror is controlled to be fully folded to increase the impact resistance of the outside rearview mirror and avoid damage to the outside rearview mirror as much as possible. At this time, the avoidance folding angle is determined to be the fully folding angle of the outside rearview mirror.

[0075] The vehicle controller compares the known collision angle and the limit angle. When the collision angle is less than or equal to the limit angle, the full folding angle is known and pre-stored in the vehicle controller. The vehicle controller determines the full folding angle as the avoidance folding angle to control the exterior rearview mirror to be fully folded to avoid the moving object.

[0076] Exemplarily, the collision angle is 45°, the limit angle is 55°, and if the collision angle is smaller than the limit angle, the complete folding angle is determined as the avoidance folding angle.

[0077] Step S304, in response to determining that the collision angle is greater than the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a partial folding angle.

[0078] Specifically, Figure 2 As shown, when the collision angle is greater than the limit angle (∠θ>∠β), the folding condition of the exterior rearview mirror is analyzed, and it can be partially folded to avoid the moving object, thereby avoiding the contact and collision between the moving object and the exterior rearview mirror, that is, the avoidance folding angle of the exterior rearview mirror is determined to be a partial folding angle.

[0079] The vehicle controller compares the known collision angle and the limit angle. When the collision angle is greater than the limit angle, the vehicle controller controls the exterior rearview mirror to partially fold to avoid the moving object, thereby avoiding contact and collision between the moving object and the exterior rearview mirror, that is, determining the avoidance folding angle of the exterior rearview mirror to be a partial folding angle.

[0080] In this embodiment, the collision point and the complete folding point are analyzed to determine the limit angle at which the exterior rearview mirror collides with the moving object, and on this basis, the collision angle and the limit angle are compared to determine the specific avoidance folding angle of the exterior rearview mirror. When the collision angle is greater than the limit angle, the folding angle of the exterior rearview mirror is determined to avoid a collision with the moving object, thereby preventing the folding angle of the exterior rearview mirror from being too large and affecting the user's experience. When the collision angle is less than or equal to the limit angle, the exterior rearview mirror is determined to be completely folded to avoid or reduce the probability of a collision with the moving object, which is beneficial to protecting the exterior rearview mirror, avoiding damage to the exterior rearview mirror, and increasing the service life of the exterior rearview mirror.

[0081] In some embodiments, step S304: in response to determining that the collision angle is greater than the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a partial folding angle includes:

[0082] Step S304-1, in response to determining that the collision angle is greater than the limit angle, determining a lateral distance between the collision point and the folding point of the exterior rearview mirror;

[0083] Specifically, when the vehicle controller determines that the collision angle is greater than the limit angle, it determines that the avoidance folding angle of the exterior rearview mirror is a partial folding angle. On this basis, the vehicle controller calculates the avoidance folding angle, such as Figure 2 As shown, to calculate the avoidance folding angle σ, on the basis of knowing the length x of the outside rearview mirror and the collision angle θ, it is also necessary to determine the lateral distance y between the collision point and the folding point of the outside rearview mirror. In the coordinate system of the fully unfolded outside rearview mirror, with the folding point of the outside rearview mirror as the origin, the coordinates of the collision point are known, and the lateral distance between the collision point and the folding point of the outside rearview mirror can be determined.

[0084] Exemplarily, the coordinates of the collision point are (10, 0), and the lateral distance can be determined to be 10 centimeters.

[0085] Step S304-2, determining the avoidance folding angle based on the collision angle, the lateral distance and the length of the exterior rearview mirror, wherein the avoidance folding angle is a partial folding angle.

[0086] Specifically, Figure 2 As shown, the avoidance folding angle σ is an angle in a triangle formed by the folding point O, the collision point A and the intersection C of the motion trajectory and the folding path of the exterior rearview mirror. If the collision angle θ, the lateral distance y and the length x of the exterior rearview mirror are known, the avoidance folding angle is calculated according to the sine theorem.

[0087] For example, if the collision angle θ is 100°, the lateral distance y is 10 cm, and the length of the exterior rearview mirror is 20 cm, then the avoidance folding angle σ is calculated according to the sine theorem as follows: 180°-100°-sin -1 (sin45°×10 / 20)=59.3°

[0088] In this embodiment, the partial avoidance folding angle of the exterior rearview mirror is calculated by the sine theorem, so that the exterior rearview mirror does not need to be completely folded to avoid the moving object and prevent it from colliding with the exterior rearview mirror. At the same time, the folding time of the exterior rearview mirror is saved, thereby reducing energy consumption. It can also shorten the time for the exterior rearview mirror to return to a normal unfolded state, so that the entrance can return to a normal working state, avoiding the long avoidance folding time that affects the driver's use of the exterior rearview mirror, which is beneficial to the practicality and popularization and applicability of the method.

[0089] In some embodiments, the method further comprises:

[0090] Step S400, obtaining a vertical distance between the moving object and the exterior rearview mirror;

[0091] Specifically, the vehicle controller obtains the vertical distance between the moving object and the outside rearview mirror through the monitoring component located on the outside rearview mirror, that is, the distance between the moving object and the outside rearview mirror in the direction perpendicular to the outside rearview mirror. When the monitoring component detects the moving object, it obtains the vertical distance between the moving object and the monitoring component. Because the monitoring component is located on the outside rearview mirror, the vertical distance between the moving object and the monitoring component is the vertical distance between the moving object and the outside rearview mirror.

[0092] The monitoring component acquires the vertical distance between the moving object and the exterior rearview mirror in real time to monitor the moving object.

[0093] Step S500, in response to determining that the vertical distance is less than or equal to a preset distance, obtaining a vertical speed and a vertical acceleration of the moving object;

[0094] Specifically, the preset distance is a pre-set collision warning distance, and the preset distance is less than or equal to the monitoring distance of the monitoring device. The vehicle controller judges the acquired vertical distance. When the vertical distance is less than or equal to the preset distance, it is determined that the moving object enters the collision warning area, and the monitoring device is controlled to obtain the vertical speed and vertical acceleration of the moving object in a direction perpendicular to the fully unfolded exterior rearview mirror, so that the subsequent vehicle controller can determine the avoidance distance.

[0095] Exemplarily, the preset distance is 1.5 meters.

[0096] Step S600, determining the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement which is the same as the driving direction of the vehicle and backward movement which is opposite to the driving direction of the vehicle;

[0097] Specifically, the vehicle controller analyzes the acquired motion trajectory of the moving object to determine the moving direction of the moving object to improve the accuracy of determining the avoidance distance, the motion direction includes forward motion and backward motion, the forward motion means that the moving object approaches the side of the exterior rearview mirror with a mirror, and the backward motion means that the moving object approaches the side of the exterior rearview mirror without a mirror, the forward motion is the same as the vehicle's forward direction, and the backward motion is the same as the vehicle's backward direction.

[0098] Step S700, in response to determining that the moving direction is forward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle and the pre-stored length of the exterior rearview mirror;

[0099] Specifically, after determining the moving direction of the moving object, the vehicle controller uses different calculation methods to calculate the avoidance distance according to the different moving directions, so as to avoid the collision of the exterior rearview mirror with the moving object when performing avoidance folding.

[0100] When the movement direction is forward, that is, when the moving object moves toward the side of the exterior rearview mirror with a mirror, the folding path of the exterior rearview mirror overlaps with the movement trajectory of the moving object. Therefore, when calculating the avoidance distance, the pre-stored length of the exterior rearview mirror is taken into account to avoid the collision of the exterior rearview mirror with the moving object when performing avoidance folding, thereby improving the practicality of the method.

[0101] The vehicle controller can obtain the duration of the avoidance folding of the outside rearview mirror based on the avoidance folding angle. Then, based on the known vertical speed, vertical acceleration and duration of the avoidance folding, the displacement of the moving object in the vertical direction of the fully unfolded outside rearview mirror during the avoidance folding of the outside rearview mirror can be calculated according to the distance calculation formula of uniformly accelerated linear motion. Based on this, the length of the outside rearview mirror is accelerated to determine the avoidance distance of the outside rearview mirror. When the vertical distance between the moving object and the outside rearview mirror is the avoidance distance, the outside rearview mirror can be controlled to perform the avoidance folding action to achieve the avoidance folding of the outside rearview mirror.

[0102] Step S800, in response to determining that the movement direction is backward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the avoidance folding angle;

[0103] Specifically, when the direction of movement is backward, that is, when the moving object moves toward the side of the exterior rearview mirror that does not have a mirror, the folding path of the exterior rearview mirror does not overlap with the movement trajectory of the moving object. Therefore, it is only necessary to consider the displacement of the moving object in the direction perpendicular to the fully unfolded exterior rearview mirror during the avoidance folding process of the exterior rearview mirror. The vehicle controller can obtain the duration of the exterior rearview mirror performing the avoidance folding according to the avoidance folding angle. Based on the known vertical speed, vertical acceleration and the duration of the avoidance folding, the avoidance distance can be calculated according to the distance calculation formula of uniformly accelerated linear motion.

[0104] Step S900, in response to determining that the vertical distance is equal to the avoidance distance, controlling the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle.

[0105] Specifically, the monitoring component obtains the vertical distance between the moving object and the outside rearview mirror in real time. When the vertical distance is equal to the avoidance distance, the vehicle controller controls the outside rearview mirror to be folded to the avoidance folding angle. When the moving direction of the moving object is forward, when the outside rearview mirror is folded to the avoidance folding angle, the moving object moves to a distance equal to the length of the outside rearview mirror from the fully unfolded outside rearview mirror, and the subsequent movement of the moving object is in the same direction as the outside rearview mirror after being folded, and will not collide with the outside rearview mirror. When the moving direction of the moving object is backward, the outside rearview mirror is folded to the avoidance folding angle. When the mirror is folded to the avoidance folding angle, the moving object moves to the collision point. If the avoidance folding angle of the exterior rearview mirror is a partial folding angle, the subsequent movement of the moving object is close to the free end of the exterior rearview mirror, but no collision occurs. If the avoidance folding angle of the exterior rearview mirror is a complete folding angle, the subsequent movement of the moving object will contact the exterior rearview mirror, but at this time the exterior rearview mirror is in a completely folded state. The ability of the exterior rearview mirror to withstand the impact of the moving object is increased, and generally, no significant damage is caused to the exterior rearview mirror. Based on this, automatic folding avoidance of the exterior rearview mirror is achieved.

[0106] In this embodiment, by limiting a preset distance, when the moving object enters the preset distance, the vertical speed and vertical acceleration of the moving object are obtained to determine the displacement of the moving object in a direction perpendicular to the fully unfolded outside rearview mirror during the avoidance folding, and then determine the avoidance distance, so that when it is monitored that the distance of the moving object from the outside rearview mirror in a direction perpendicular to the fully unfolded outside rearview mirror reaches the avoidance distance, the outside rearview mirror is controlled to perform an avoidance action, which can not only enable the outside rearview mirror to automatically fold and avoid the moving object, but also avoid the outside rearview mirror from folding and avoiding in advance, which affects the normal use of the outside rearview mirror, which is beneficial to improving the utilization rate of the outside rearview mirror, but also improves the practicality and popularization and applicability of the method.

[0107] In some embodiments, step S100: obtaining the motion trajectory of the moving object approaching the exterior rearview mirror includes:

[0108] In response to determining that the vehicle speed is less than a preset value and the exterior rearview mirror is in an unfolded state, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror is performed.

[0109] Specifically, the vehicle controller activates the monitoring component located on the outside rearview mirror only when the vehicle speed is less than the preset value and the outside rearview mirror is in the unfolded state, so as to obtain the motion trajectory of the moving object approaching the outside rearview mirror.

[0110] It should be noted that, under the premise that the vehicle speed is less than the preset value, as long as the exterior rearview mirror is switched from a fully folded state, the vehicle controller will activate the monitoring component to monitor the moving objects close to the exterior rearview mirror, so as to execute the method described in this application, so as to provide all-round protection for the exterior rearview mirror in the unfolded state, which is beneficial to prolonging the service life of the exterior rearview mirror.

[0111] In addition, the preset value is pre-set, which may be 5 km / h. Setting the preset value can prevent the exterior rearview mirror from performing folding avoidance when the vehicle is driving fast, thereby affecting the driver's normal driving and further affecting the driver's driving safety.

[0112] In some embodiments, step S200: determining the collision point and collision angle between the motion trajectory and the exterior rearview mirror includes:

[0113] Step S201, determining the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement which is the same as the driving direction of the vehicle and backward movement which is opposite to the driving direction of the vehicle;

[0114] Specifically, the vehicle controller determines the moving direction of the moving object based on the acquired motion trajectory of the moving object. Since the moving object is an object approaching the outside rearview mirror determined by the monitoring device, when the motion trajectory is located on the side of the outside rearview mirror with a mirror, it can be determined that the moving direction of the moving object is forward movement. When the motion trajectory is located on the side of the outside rearview mirror without a mirror, it can be determined that the moving direction of the moving object is backward movement.

[0115] Step S202, in response to determining that the movement direction is forward movement, determining that an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror is a collision angle;

[0116] Specifically, when the moving object is moving forward, its moving trajectory overlaps with the folding path of the exterior rearview mirror, and the collision angle is related to the avoidance folding angle. Therefore, the angle between the side of the moving trajectory close to the folding point and the exterior rearview mirror is determined as the collision angle, so that the determined avoidance folding angle is more accurate, thereby enhancing the practicality of the automatic avoidance folding of the exterior rearview mirror.

[0117] Step S203, in response to determining that the movement direction is backward movement, determining that the angle between the side of the movement trajectory away from the folding point of the exterior rearview mirror and the exterior rearview mirror is a collision angle.

[0118] Specifically, when the movement direction is backward, its movement trajectory on the side of the outside rearview mirror without a mirror does not overlap with the folding path of the outside rearview mirror, and therefore the movement trajectory on the side of the outside rearview mirror with a mirror is estimated (that is, the movement trajectory is extended to extend to the side of the outside rearview mirror with a mirror), and the angle between the side of the movement trajectory close to the folding point of the outside rearview mirror and the outside rearview mirror is the collision angle, and since the outside rearview mirror and the movement trajectory are both straight lines in the coordinate system of the fully unfolded outside rearview mirror pre-stored in the vehicle controller, the collision angle is the same as the angle between the side of the movement trajectory away from the folding point of the outside rearview mirror and the outside rearview mirror, and therefore, the angle between the side of the movement trajectory away from the folding point of the outside rearview mirror and the outside rearview mirror is determined to be the collision angle.

[0119] In this embodiment, by determining the moving direction of the moving object to clarify the position of the collision angle, the vehicle controller can determine the appropriate collision angle based on moving objects with different moving directions, thereby facilitating the determination of the avoidance folding angle, thereby improving the accuracy of the avoidance folding angle, and facilitating the practicality and promotion and applicability of the method.

[0120] In some embodiments, step S304-2: determining the avoidance folding angle based on the collision angle, the lateral distance and the length of the exterior rearview mirror includes:

[0121]

[0122] Wherein: σ is the avoidance folding angle; θ is the collision angle; y is the lateral distance; and x is the length of the exterior rearview mirror.

[0123] Specifically, Figure 2 As shown, the avoidance folding angle is the optimal angle for avoiding the moving object, that is, when the exterior rearview mirror is avoidance folded to the avoidance folding angle, the moving object just does not contact the exterior rearview mirror, thereby achieving avoidance.

[0124] Since the avoidance folding angle belongs to an inner angle ∠AOC in ▲AOC, based on the known inner angle ∠OAC in ▲AOC (i.e., the collision angle θ) and the two side lengths in ▲AOC (i.e., OA: the lateral distance y; OC: the length of the exterior rearview mirror), ∠ACO=sin can be calculated according to the sine theorem. -1 (sinθ*y / x), based on the known ∠OAC (i.e., the collision angle θ) and ∠ACO in ▲AOC, the avoidance folding angle can be calculated according to the sum of the interior angles of the triangle being 180°, that is, ∠AOC=180°-∠OAC-∠ACO,

[0125]

[0126] In this embodiment, the specific calculation process of the avoidance folding angle is described in detail to make it clear that the vehicle controller can calculate the avoidance folding angle based on known conditions, so that the outside rearview mirror automatically avoids and folds the moving object, thereby preventing the outside rearview mirror from being damaged by the moving object. The automatic calculation of the vehicle controller can significantly improve the calculation rate of the method and the execution efficiency of the method, thereby improving the timeliness and practicality of the method.

[0127] In some embodiments, step S700: in response to determining that the moving direction is forward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle and the pre-stored length of the exterior rearview mirror, includes:

[0128]

[0129] Wherein: S is the avoidance distance; x is the length of the exterior rearview mirror; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

[0130] Specifically, the vehicle controller calculates the folding speed of the outside rearview mirror based on the pre-stored full folding angle of the outside rearview mirror and the time required for full folding, and pre-stores it. On the basis of knowing the avoidance folding angle, the time required for the outside rearview mirror to perform the avoidance folding can be obtained according to the folding speed. The avoidance distance is determined based on the displacement of the moving object in the direction perpendicular to the fully unfolded outside rearview mirror during the avoidance folding of the outside rearview mirror, so as to avoid collision with the moving object during the avoidance folding of the outside rearview mirror.

[0131] When the moving object is moving forward, the moving object and the folding of the outside rearview mirror are moving in opposite directions. Therefore, when calculating the avoidance distance of the outside rearview mirror, the length of the outside rearview mirror is taken into account to avoid collision with the moving object during the avoidance and folding process of the outside rearview mirror, which is beneficial to improving the practicality of the method.

[0132] In some embodiments, step S800: in response to determining that the movement direction is backward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the avoidance folding angle includes:

[0133]

[0134] Wherein: S is the avoidance distance; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

[0135] Specifically, when the moving object is moving backward, the moving object and the outside rearview mirror are folded in the same direction. Therefore, when calculating the avoidance distance of the outside rearview mirror, it is only necessary to calculate the vertical driving path of the moving object during the folding avoidance of the outside rearview mirror. This can avoid the collision between the moving object and the outside rearview mirror and improve the efficiency of the folding avoidance of the outside rearview mirror, which is conducive to improving the practicality of the method.

[0136] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0137] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0138] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a device for automatically avoiding and folding an exterior rearview mirror.

[0139] refer to Figure 4 The device for automatically avoiding and folding the exterior rearview mirror comprises:

[0140] An acquisition module 100 is configured to acquire a motion trajectory of a moving object approaching the exterior rearview mirror;

[0141] A determination module 200 is configured to determine a collision point and a collision angle between the motion trajectory and the exterior rearview mirror;

[0142] The calculation module 300 is configured to determine the avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle.

[0143] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0144] The device of the above embodiment is used to implement the corresponding method of automatic avoidance and folding of the exterior rearview mirror in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0145] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for automatic avoidance and folding of the exterior rearview mirror described in any of the above embodiments is implemented.

[0146] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0147] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0148] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0149] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0150] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0151] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0152] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0153] The electronic device of the above embodiment is used to implement the corresponding method of automatic avoidance and folding of the exterior rearview mirror in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0154] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the electronic device as described in the above-mentioned embodiments. The beneficial effects of the vehicle are the same as the beneficial effects of the above-mentioned electronic device, which will not be repeated here.

[0155] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method of automatic avoidance and folding of the exterior rearview mirror as described in any of the above embodiments.

[0156] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0157] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method of automatic avoidance and folding of the exterior rearview mirror as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0158] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0159] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0160] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0161] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0162] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0163] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0164] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0165] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0166] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for automatically avoiding and folding an exterior rearview mirror, characterized in that: include: Obtaining a motion trajectory of a moving object approaching an exterior rearview mirror; Determining a collision point and a collision angle between the motion trajectory and the exterior rearview mirror; The avoidance folding angle of the exterior rearview mirror is determined based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to perform avoidance folding according to the avoidance folding angle.

2. The method for automatic avoidance folding of exterior rearview mirrors according to claim 1, characterized in that: The step of determining the avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point, and the pre-stored length of the exterior rearview mirror includes: Determining a fully folded point where a free end of the exterior rearview mirror is located when the exterior rearview mirror is fully folded based on the length of the exterior rearview mirror and the folding point of the exterior rearview mirror; Determine the angle between the line connecting the fully folding point and the collision point and the exterior rearview mirror as the limit angle; In response to determining that the collision angle is less than or equal to the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a preset full folding angle; In response to determining that the collision angle is greater than the limit angle, the avoidance folding angle of the exterior rearview mirror is determined to be a partial folding angle.

3. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 2, characterized in that: In response to determining that the collision angle is greater than the limit angle, determining that the avoidance folding angle of the exterior rearview mirror is a partial folding angle includes: In response to determining that the collision angle is greater than the limit angle, determining a lateral distance between the collision point and a folding point of the exterior rearview mirror; The avoidance folding angle is determined based on the collision angle, the lateral distance and the length of the exterior rearview mirror, and the avoidance folding angle is a partial folding angle.

4. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 1, characterized in that: Also includes: Obtaining a vertical distance between the moving object and the exterior rearview mirror; In response to determining that the vertical distance is less than or equal to a preset distance, obtaining a vertical speed and a vertical acceleration of the moving object; Determine the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement in the same direction as the vehicle's moving direction and backward movement in the opposite direction to the vehicle's moving direction; In response to determining that the direction of movement is forward movement, determining an avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle, and a pre-stored length of the exterior rearview mirror; In response to determining that the movement direction is backward movement, determining an avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the avoidance folding angle; In response to determining that the vertical distance is equal to the avoidance distance, the exterior rearview mirror is controlled to perform avoidance folding according to the avoidance folding angle.

5. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 1, characterized in that: The step of obtaining the motion trajectory of the moving object approaching the exterior rearview mirror includes: In response to determining that the vehicle speed is less than a preset value and the exterior rearview mirror is in an unfolded state, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror is performed.

6. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 1, characterized in that: The determining of the collision point and collision angle between the motion trajectory and the exterior rearview mirror includes: Determine the moving direction of the moving object based on the moving trajectory, wherein the moving direction includes forward movement in the same direction as the vehicle's moving direction and backward movement in the opposite direction to the vehicle's moving direction; In response to determining that the movement direction is forward movement, determining that an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror is a collision angle; In response to determining that the movement direction is backward movement, the angle between the side of the movement trajectory away from the folding point of the exterior rearview mirror and the exterior rearview mirror is determined to be a collision angle.

7. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 3, characterized in that: The determining the avoidance folding angle based on the collision angle, the lateral distance and the length of the exterior rearview mirror comprises: Wherein: σ is the avoidance folding angle; θ is the collision angle; y is the lateral distance; and x is the length of the exterior rearview mirror.

8. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 4, characterized in that: In response to determining that the moving direction is forward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, the avoidance folding angle, and the pre-stored length of the exterior rearview mirror, includes: Wherein: S is the avoidance distance; x is the length of the exterior rearview mirror; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

9. The method for automatic folding and avoiding of exterior rearview mirrors according to claim 4, characterized in that: In response to determining that the movement direction is backward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, the vertical acceleration, and the folding angle includes: Wherein: S is the avoidance distance; V is the vertical angle; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding speed of the exterior rearview mirror.

10. A vehicle comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 9 is implemented.

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