Method, related device and vehicle for automatic avoidance folding of exterior rearview mirror

Abstract

The present application provides a method for automatic avoidance and folding of an exterior rearview mirror, comprising: obtaining a motion trajectory of a moving object approaching the exterior rearview mirror; determining a collision point and collision angle between the motion trajectory and the exterior rearview mirror; and determining an avoidance and folding angle of the exterior rearview mirror based on the collision angle, the collision point, and a pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to avoid and fold according to the avoidance and folding angle. The present application obtains a motion trajectory of a moving object approaching the exterior rearview mirror, and determines a collision point and collision angle between the moving object and the exterior rearview mirror based on the motion trajectory, and determines an avoidance and folding angle of the exterior rearview mirror on this basis, so as to control the exterior rearview mirror to avoid and fold according to the avoidance and folding angle, thereby preventing the moving object from colliding with the exterior rearview 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 exterior rearview mirrors, related devices, and vehicles. Background Art

[0002] Most existing vehicle exterior mirror folding systems are manually activated or activated after the vehicle is locked. If the exterior mirror is hit by an obstacle when fully deployed, it may damage the mechanical structure and motor of the exterior mirror, affecting its normal use. Summary of the Invention

[0003] In view of this, the purpose of this 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 objectives, the present application provides a method for automatically avoiding and folding exterior rearview mirrors, comprising:

[0005] Obtaining a motion trajectory of a moving object approaching the 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] Furthermore, the determining of 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 at which 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] determining 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 the avoidance folding angle of the exterior rearview mirror to be 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] Furthermore, 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 velocity and a vertical acceleration of the moving object;

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

[0020] In response to determining that the movement direction 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, 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 the deployed state, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror is performed.

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

[0026] determining a moving direction of the moving object based on the moving trajectory, wherein the moving direction includes a forward movement in the same direction as the vehicle's moving direction and a 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 an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror as 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] Furthermore, 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] Furthermore, in response to determining that the movement 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 velocity; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding velocity of the exterior rearview mirror.

[0035] Furthermore, 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, vertical acceleration, and avoidance folding angle includes:

[0036]

[0037] Wherein: S is the avoidance distance; V is the vertical velocity; 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, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method 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. By obtaining the motion trajectory of a moving object approaching the exterior rearview mirror, the motion trajectory is analyzed to determine 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. On this basis, the avoidance and folding angle of the exterior rearview mirror is determined 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, which can achieve avoidance of the moving object and prevent 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 conducive 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 this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 Schematic diagram of the flow of the method for automatic avoidance folding of exterior rearview mirrors 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 structural diagram of a device for automatically avoiding and folding an exterior rearview mirror according to an embodiment of the present application;

[0046] Figure 5 This 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 this application more clear, this 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 have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before 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 may 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 advancement of vehicle technology, people's demand for intelligent vehicle control is also increasing. When the exterior rearview mirror is fully extended, if an obstacle approaches the exterior rearview mirror (or the exterior rearview mirror approaches the obstacle, but for exterior rearview mirrors, it is always the obstacle approaching the exterior rearview mirror) and is about to hit the exterior rearview mirror, the exterior rearview mirror will not be able to automatically avoid the impact of the obstacle, resulting in damage to the exterior rearview mirror, affecting the driver's normal driving and use of the exterior rearview mirror.

[0050] As described in the background technology, the folding and unfolding of the exterior rearview mirrors on existing vehicles are mostly controlled manually. Manually operating the exterior rearview mirrors to avoid obstacles hitting the exterior rearview 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 rearview 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, and automatically fold to the corresponding avoidance and folding angle to avoid obstacles, thereby preventing obstacles from damaging the exterior rearview mirrors and improving 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, and the front (the side with the lens) and the back (the side without the lens) of the outside rearview mirror are both provided with the monitoring device to monitor the moving object 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 angle 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 exterior rearview mirror when the moving object collides with the exterior rearview mirror) where the moving object will collide with the exterior rearview mirror if the exterior rearview mirror does not perform avoidance folding, and the collision angle (the angle between the motion trajectory and the fully unfolded exterior rearview mirror) based on the motion trajectory and the pre-stored coordinate system of the fully unfolded exterior rearview mirror (the fully unfolded exterior rearview mirror is the X-axis, the folding point of the exterior 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 exterior 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 exterior rearview mirror that is away from the exterior 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 exterior rearview mirror with the lens, which is the same as the angle of the exterior rearview mirror close to the exterior 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 exterior rearview mirror based on the collision angle, the collision point and the pre-stored length of the exterior rearview mirror. That is, the exterior rearview mirror is folded according to the avoidance folding angle, which can avoid the moving object from contacting or colliding with the exterior rearview mirror, thereby effectively avoiding the exterior rearview mirror being damaged by the moving object.

[0063] For example, the collision angle is 90°, that is, the motion trajectory of the moving object is perpendicular to the fully unfolded exterior rearview mirror, 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 pre-stored length of the 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 are determined when the outside rearview mirror is not evasive and folded. On this basis, the evasive and folding angle of the outside rearview mirror is determined in combination with the pre-stored length analysis of the outside rearview mirror, so that the outside rearview mirror is evasive and folded according to the evasive and folding angle, which can achieve avoidance of the moving object and prevent the moving object from colliding with and damaging the outside rearview mirror, thereby achieving the technical effect of automatically folding the outside rearview mirror to avoid the moving object when it is in the unfolded state, which is beneficial to realizing the intelligence of the outside rearview mirror while also helping to improve 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 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;

[0067] Specifically, the vehicle controller determines 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 in the pre-stored coordinate system 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 used as the horizontal coordinate, the folding point O of the exterior rearview mirror is used as 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 used as 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 a 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 rearview mirror as the horizontal coordinate in the pre-stored coordinate system of the exterior rearview mirror, the fully folded angle of the exterior rearview mirror is 90°, the fully folded exterior rearview mirror as the vertical coordinate, the coordinates of the fully folded point B' are (0, 20), and the coordinates of the collision point A are (10, 0). 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 the avoidance folding angle of the exterior rearview mirror to be a preset full folding angle;

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

[0080] In this embodiment, the collision point and the fully 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 fully 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 improving 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 a 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 exterior 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 exterior rearview mirror. In the coordinate system of the fully unfolded exterior rearview mirror, with the folding point of the exterior 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 exterior rearview mirror can be determined.

[0084] For example, 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, such as Figure 2 As shown, the avoidance folding angle σ is an angle in the 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. Given the collision angle θ, the lateral distance y, and the length x of the exterior rearview mirror, 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 to be 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 its entrance can return to a normal working state, avoiding the long avoidance folding time affecting the driver's use of the exterior rearview mirror, thereby being beneficial to the practicality and promotion and application 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 exterior rearview mirror through a monitoring component located on the exterior rearview mirror, that is, the distance between the moving object and the exterior rearview mirror in a direction perpendicular to the exterior 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 exterior rearview mirror, the vertical distance between the moving object and the monitoring component is the vertical distance between the moving object and the exterior rearview mirror.

[0092] The monitoring component obtains 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 velocity 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 component. The vehicle controller judges the obtained vertical distance. When the vertical distance is less than or equal to the preset distance, it is determined that the moving object has entered the collision warning area, and the monitoring component is controlled to obtain the vertical speed and vertical acceleration of the moving object in the 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 a 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;

[0097] Specifically, the vehicle controller analyzes the acquired motion trajectory of the moving object to determine the motion 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 forward direction of the vehicle, and the backward motion is the same as the backward direction of the vehicle.

[0098] Step S700, in response to determining that the movement direction is forward movement, determining the avoidance distance of the exterior rearview mirror based on the vertical speed, vertical acceleration, avoidance folding angle, and 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 its different moving directions to avoid the situation where the exterior rearview mirror collides 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, 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 exterior rearview mirror colliding 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 outside 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 vehicle controller can calculate the displacement of the moving object in the direction of the vertically fully unfolded outside rearview mirror during the process of the outside rearview mirror performing the avoidance folding 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 realize 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, vertical acceleration, and avoidance folding angle;

[0103] Specifically, when the direction of motion 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 and the motion trajectory of the moving object do not overlap. Therefore, it is only necessary to consider the displacement of the moving object in a direction perpendicular to the fully deployed exterior rearview mirror during the avoidance folding process of the exterior rearview mirror. The vehicle controller can determine the duration of the exterior rearview mirror's avoidance folding based on the avoidance folding angle. Based on the known vertical velocity, vertical acceleration, and the avoidance folding duration, the avoidance distance can be calculated using the distance calculation formula for 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 exterior rearview mirror in real time. When the vertical distance is equal to the avoidance distance, the vehicle controller controls the exterior rearview mirror to be folded to the avoidance folding angle. When the moving object is moving forward, when the exterior rearview mirror is folded to the avoidance folding angle, the moving object moves to a distance equal to the length of the exterior rearview mirror from the fully unfolded exterior rearview mirror, and the subsequent movement of the moving object is in the same direction as the direction of the exterior rearview mirror after folding, and will not collide with the exterior rearview mirror; when the moving object is moving backward, the exterior 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 full 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 fully folded state, and the ability of the exterior rearview mirror to withstand the impact of the moving object is increased. Generally, it will not cause significant damage 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 exterior rearview mirror during the avoidance folding period, and then determine the avoidance distance. When it is monitored that the distance of the moving object from the exterior rearview mirror in a direction perpendicular to the fully unfolded exterior rearview mirror reaches the avoidance distance, the exterior rearview mirror is controlled to perform an avoidance action. This can not only enable the exterior rearview mirror to automatically fold and avoid the moving object, but also avoid the exterior rearview mirror from folding and avoiding in advance, which affects the normal use of the exterior rearview mirror. This is beneficial to improving the utilization rate of the exterior rearview mirror while also improving the practicality and promotional applicability of the method.

[0107] In some embodiments, step S100: obtaining the motion trajectory of the 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 the deployed 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 exterior rearview mirror only when the vehicle speed is less than the preset value and the exterior rearview mirror is in the unfolded state to obtain the motion trajectory of the moving object approaching the exterior 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 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 improving the service life of the exterior rearview mirror.

[0111] In addition, the preset value is pre-set and may be 5 km / h. Setting the preset value can prevent the exterior rearview mirror from folding to avoid the vehicle from moving quickly, 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 a 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;

[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 component, 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 an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror as a collision angle;

[0116] Specifically, when the moving object is moving forward, its movement 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 movement 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] In 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 movement, the movement trajectory on the side of the exterior rearview mirror without a mirror does not overlap with the folding path of the exterior rearview mirror, so the movement trajectory on the side of the exterior rearview mirror with a mirror is estimated (that is, the movement trajectory is extended to extend to the side of the exterior rearview mirror with a mirror), and the angle between the side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror is the collision angle. Since the exterior rearview mirror and the movement trajectory are both straight lines in the coordinate system of the fully unfolded exterior 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 exterior rearview mirror and the exterior rearview mirror. Therefore, 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 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 and improving the accuracy of the avoidance folding angle, which is beneficial to the practicality and promotion and application 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, such as 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 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 based on the sum of the interior angles of a triangle being 180°, i.e., ∠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 exterior rearview mirror automatically avoids and folds the moving object, thereby preventing the exterior 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 movement 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 velocity; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding velocity of the exterior rearview mirror.

[0130] Specifically, the vehicle controller calculates the folding speed of the exterior rearview mirror based on the pre-stored full folding angle of the exterior rearview mirror and the time required for full folding, and pre-stores it. Based on the known avoidance folding angle, the time it takes for the exterior rearview mirror to perform 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 exterior rearview mirror during the process of the exterior rearview mirror performing avoidance folding, so as to avoid collision with the moving object during the process of the exterior rearview mirror performing avoidance folding.

[0131] When the moving object is moving forward, the moving object and the folding of the exterior rearview mirror are moving in opposite directions. Therefore, when calculating the avoidance distance of the exterior rearview mirror, the length of the exterior rearview mirror is taken into account to avoid collision with the moving object during the avoidance and folding process of the exterior rearview mirror, which is conducive 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, vertical acceleration, and avoidance folding angle includes:

[0133]

[0134] Wherein: S is the avoidance distance; V is the vertical velocity; 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 direction of the moving object is 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 not only avoid the collision between the moving object and the outside rearview mirror, but also 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 in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0137] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain 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 the 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 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 avoid folding according to the avoidance folding angle.

[0143] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this 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 and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable 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 hardware structure diagram of an electronic device provided in this embodiment is shown. 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 communicatively connected to each other within the device via the bus 1050.

[0147] The processor 1010 can be implemented using 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0149] The input / output interface 1030 is used to connect to input / output modules to enable information input and output. The input / output modules can be configured as components within the device (not shown) or externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, and various sensors. Output devices may include a display, speaker, vibrator, indicator light, and the like.

[0150] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.).

[0151] The bus 1050 comprises a pathway for transmitting information between various components of the device, such as 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 a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this 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 embodiment. 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 embodiments, the present application also provides a non-transitory computer-readable storage medium, which 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 media of this embodiment includes permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, 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, compact disc read-only memory (CD-ROM), digital versatile disc (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 embodiments, 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 a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the disclosed technical solution based on the prompt message.

[0161] As an optional but non-limiting implementation, in response to a 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. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

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

[0163] Those 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 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 to avoid obscuring the understanding of the embodiments of the present application, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. Furthermore, devices may be shown in block diagram form to avoid obscuring the understanding of the embodiments of the present application, and this also takes into account the fact that the implementation details of these block diagram devices are highly dependent on the platform on which the embodiments of the present application will be implemented (i.e., these details should be fully understood by those skilled in the art). Where specific details (e.g., circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with variations therefrom. Therefore, these descriptions should be considered illustrative rather than restrictive.

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

[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 scope of protection 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 the exterior rearview mirror; determining a collision point and a collision angle between the motion trajectory and the exterior rearview mirror; determining an avoidance folding angle of the exterior rearview mirror based on the collision angle, the collision point, and a pre-stored length of the exterior rearview mirror, so as to control the exterior rearview mirror to be avoidance folded according to the avoidance folding angle; The 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 at which 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; determining 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, the avoidance folding angle of the exterior rearview mirror is determined to be a preset full folding angle.

2. The method for automatically avoiding and folding exterior rearview mirrors according to claim 1, characterized in that: The method 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 further includes: 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 automatically avoiding and folding 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 avoidance folding 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 velocity and a vertical acceleration of the moving object; determining a moving direction of the moving object based on the moving trajectory, wherein the moving direction includes a forward movement in the same direction as the vehicle's moving direction and a backward movement in the opposite direction to the vehicle's moving direction; In response to determining that the movement direction 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 avoidance folding of exterior rearview mirrors according to claim 1, characterized in that: The obtaining of 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 the deployed state, obtaining a motion trajectory of a moving object approaching the exterior rearview mirror is performed.

6. The method for automatic avoidance folding of exterior rearview mirrors according to claim 1, characterized in that: Determining the collision point and collision angle between the motion trajectory and the exterior rearview mirror includes: determining a moving direction of the moving object based on the moving trajectory, wherein the moving direction includes a forward movement in the same direction as the vehicle's moving direction and a backward movement in the opposite direction to the vehicle's moving direction; In response to determining that the movement direction is forward movement, determining an angle between a side of the movement trajectory close to the folding point of the exterior rearview mirror and the exterior rearview mirror as 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 automatically avoiding and folding 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 includes: 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 automatically avoiding and folding exterior rearview mirrors according to claim 4, characterized in that: In response to determining that the direction of movement 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 a pre-stored length of the exterior rearview mirror, including: Wherein: S is the avoidance distance; x is the length of the exterior rearview mirror; V is the vertical velocity; a is the vertical acceleration; σ is the avoidance folding angle; v is the folding velocity of the exterior rearview mirror.

9. The method for automatically avoiding and folding 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 velocity; 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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