Adjusting method and device of rearview mirror, electronic equipment and readable storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides a rearview mirror adjusting method and device, electronic equipment and a readable storage medium. The method comprises the steps that in the steering process of an own vehicle, a target dangerous position is determined based on the current driving track of the own vehicle and the current driving track of a threatening vehicle, and the threatening vehicle is a vehicle which exists in a view blind area of the own vehicle in part of time in the steering process of the own vehicle and possibly collides with the own vehicle; the target dangerous position is a starting position where the own vehicle may collide with the threatening vehicle; under the condition that it is determined that the target dangerous position is located on the target road section, the needed adjusting angle of the rearview mirror is determined based on the target dangerous position; and controlling and adjusting the angle of the rearview mirror based on the required adjustment angle of the rearview mirror. According to the rearview mirror adjusting method, a driver can better control the relative position relation between the vehicle and the threatening vehicle, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a rearview mirror adjustment method, device, electronic device and readable storage medium. Background Art

[0002] In the related art, the rearview mirror of a vehicle can follow the steering, that is, the rearview mirror can automatically adjust the angle during the vehicle steering process to provide the driver with a better field of view to improve safety. It can also be called a dynamic rearview mirror or a steering assist rearview mirror.

[0003] However, the rotation angle of the rearview mirror only depends on the steering wheel angle, and it is impossible to achieve precise angle adjustment, and it cannot provide the driver with a more accurate field of view, resulting in lower safety. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a rearview mirror adjustment method, device, electronic device and readable storage medium to solve the problem in the related art that the angle adjustment of the vehicle rearview mirror cannot provide the driver with a more accurate field of view, resulting in lower safety.

[0005] According to a first aspect of an embodiment of the present application, there is provided a method for adjusting a rearview mirror, comprising: During the steering process of the own vehicle, the target dangerous position is determined based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle, wherein the threat vehicle is a vehicle that is in the blind spot of the own vehicle for part of the time during the steering process of the own vehicle and may collide with the own vehicle; the target dangerous position is the starting position where the own vehicle and the threat vehicle may collide; When it is determined that the target dangerous position is in the target road section, the required adjustment angle of the rearview mirror is determined based on the target dangerous position, wherein the target road section is the route section corresponding to when the threatening vehicle is in the blind spot of the own vehicle's field of vision during the turning process of the own vehicle, and the required adjustment angle is used to enable the rearview mirror to display the threatening vehicle after adjustment when the own vehicle drives to the target dangerous position; Based on the desired adjustment angle of the rearview mirror, the control adjusts the angle of the rearview mirror.

[0006] According to a second aspect of the embodiments of the present application, there is provided a rearview mirror adjustment device, comprising: The first processing module is configured to determine a target dangerous position based on a current driving trajectory of the own vehicle and a current driving trajectory of a threat vehicle during the turning process of the own vehicle, wherein the threat vehicle is a vehicle that is in a blind spot of the own vehicle for part of the time during the turning process of the own vehicle and may collide with the own vehicle; the target dangerous position is a starting position where the own vehicle and the threat vehicle may collide; The second processing module is configured to determine the required adjustment angle of the rearview mirror based on the target dangerous position when it is determined that the target dangerous position is in the target dangerous position, wherein the target road section is a route section corresponding to when the threatening vehicle is in the blind spot of the field of vision of the own vehicle during the turning process of the own vehicle, and the required adjustment angle is used to enable the rearview mirror to display the threatening vehicle after adjustment when the own vehicle travels to the target dangerous position; The control module is configured to control the adjustment of the angle of the rearview mirror based on the required adjustment angle of the rearview mirror.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the embodiments of the present application have the following beneficial effects: during the turning process of the own vehicle, the target dangerous position is determined according to the current driving trajectory of the own vehicle and the current driving trajectory of the threatening vehicle, wherein the target dangerous position is the starting position where the own vehicle and the threatening vehicle may collide, and the threatening vehicle is a vehicle that is in the blind spot of the own vehicle for part of the time during the turning process of the own vehicle and may collide with the own vehicle. When the target dangerous position is in the target road section, the required adjustment angle of the rearview mirror is determined according to the target dangerous position, and the target road section is the route section corresponding to the time when the threatening vehicle is in the blind spot of the own vehicle during the turning process of the own vehicle, and the required adjustment angle is used to make the own vehicle drive to the target dangerous position. When the threatening vehicle is in the blind spot of the own vehicle, the adjusted rearview mirror can display the threatening vehicle, and the angle of the rearview mirror is controlled and adjusted according to the required adjustment angle of the rearview mirror; in this way, during the turning process of the own vehicle, if the threatening vehicle is in the blind spot of the own vehicle's field of vision and there is a risk of collision with the own vehicle, the angle of the rearview mirror is adjusted at the target dangerous position where the collision risk begins, so that the adjusted rearview mirror can display the threatening vehicle. This achieves that under certain conditions, the vehicle can accurately adjust the angle of the rearview mirror according to the relative position of the threatening vehicle and itself, providing the driver with an accurate field of view to observe the threatening vehicle, thereby improving driving safety, and solving the problem in the related art that the angle adjustment of the rearview mirror cannot provide the driver with a relatively accurate field of view, resulting in lower safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 It is a flowchart of a method for adjusting a rearview mirror provided in an embodiment of the present application; Figure 2 is a schematic diagram of an intersection scene provided in an embodiment of the present application; Figure 3 This is a schematic diagram of a calibration range of a human eye's field of view provided in an embodiment of the present application; Figure 4 is a schematic diagram of a range corresponding to a rearview mirror field of view provided in an embodiment of the present application; Figure 5 is a schematic diagram of a steering process of a vehicle provided in an embodiment of the present application; Figure 6 It is a geometric diagram of determining the target required angle of the rearview mirror when the vehicle itself turns left or right, provided in an embodiment of the present application; Figure 7 It is a geometric diagram of a method for determining a target angle required for a rearview mirror during a U-turn of a vehicle provided in an embodiment of the present application; Figure 8 is a schematic diagram of an adjustment device for a rearview mirror provided in an embodiment of the present application; Fig. 9 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0012] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0013] In the related art, the rearview mirror of a vehicle can follow the steering, which is also called dynamic rearview mirror or steering-assisted rearview mirror, allowing the rearview mirror to automatically adjust its angle when the vehicle turns to provide a better field of view and improve safety. Among them, the follow-up steering is usually integrated with an angle sensor, which can detect the rotation angle of the steering wheel of the vehicle itself and convert the above signal into the required adjustment angle of the rearview mirror.

[0014] However, the above function has the following problems: First, when there is less traffic at the intersection, or there are no other vehicles that can threaten the normal turning of the vehicle, the follow-up steering is easily turned on by mistake as the steering wheel turns, affecting the driver's normal view of the rearview mirror; second, when the follow-up steering is needed, the driver needs to manually turn on the follow-up steering function, affecting driving safety; third, the rotation angle of the rearview mirror often depends on the steering wheel angle, and it is impossible to accurately adjust the angle of the rearview mirror, which reduces safety.

[0015] In response to the above scenario, in the process of turning the own vehicle, the present application encounters a scene in which a vehicle is partially present in the blind spot of the own vehicle and may collide with the own vehicle. If it is identified that there is a risk of collision with the own vehicle when the threatening vehicle is in the blind spot of the own vehicle, the angle of the rearview mirror is adjusted at the target dangerous position where the collision risk begins, so that the adjusted rearview mirror can display the threatening vehicle. This achieves that under certain conditions (there is a risk of collision with the own vehicle when in the blind spot of the own vehicle), the vehicle can accurately adjust the angle of the rearview mirror according to the relative position of the threatening vehicle and itself, providing the driver with an accurate field of view to observe the threatening vehicle, thereby improving driving safety.

[0016] A method and device for adjusting a rearview mirror according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0017] Figure 1 It is a flow chart of a method for adjusting a rearview mirror provided in an embodiment of the present application. Figure 1 The rearview mirror adjustment method can be executed by a server, a controller on a vehicle, a terminal device or a rearview mirror control system. Figure 1 As shown, the adjustment method of the rearview mirror includes the following steps: S101, during the turning process of the own vehicle, determining a target dangerous position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threatening vehicle; Among them, the threat vehicle is a vehicle that exists in the blind spot of the own vehicle for part of the time during the turning process of the own vehicle and may collide with the own vehicle; the target dangerous position is the starting position where the own vehicle and the threat vehicle may collide.

[0018] Vehicle steering may include turning left, turning right, and making a U-turn.

[0019] The blind area of ​​the vehicle's field of vision can be the area that the driver cannot see through the human eye and the rearview mirror, that is, the area outside the driver's field of vision and the rearview mirror's field of vision. The vehicle that may collide with the vehicle can be the vehicle that may collide with the vehicle within a period of time according to the vehicle's driving trajectory. The target danger position is the starting position where the collision may occur.

[0020] In some examples, Figure 2 In the intersection scene shown, assuming that the own vehicle is vehicle 1, when the own vehicle 1 turns left, vehicle 2 is partly in the blind spot of the own vehicle and may collide with the own vehicle in the future according to the driving trajectory of vehicle 2, so the threat vehicle is vehicle 2; when the own vehicle 1 turns right, vehicle 4 is partly in the blind spot of the own vehicle and may collide with the own vehicle in the future, so the threat vehicle is vehicle 4; when the own vehicle 1 turns around, vehicle 3 is partly in the blind spot of the own vehicle and may collide with the own vehicle in the future, so the threat vehicle is vehicle 3. For example, the threat vehicle can be a car, a motorcycle, an electric car, etc., which is not specifically limited here.

[0021] In addition, in some examples, when determining the current driving trajectory of the own vehicle, it can be determined based on the navigation information, steering wheel information and driving information of the own vehicle, and the driving information includes driving speed, acceleration, etc. In addition, the current driving trajectory of the own vehicle can be determined by a variety of sensors, such as radar sensors and camera sensors. In addition, the driving route of the own vehicle can be predicted based on the vehicle kinematic model or navigation information, so as to determine the current driving trajectory of the own vehicle. Similarly, the current driving trajectory of the threatening vehicle can be determined by a variety of sensors.

[0022] Among them, the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle both include the position points when the vehicles are not driving and the position points when the vehicles are driving. When the threat vehicle is not driving, the current driving trajectory of the threat vehicle includes the parking position of the threat vehicle. Of course, when the own vehicle is not driving, the current driving trajectory of the own vehicle includes the parking position of the own vehicle. For example, Figure 2 As shown, assuming that the threat vehicle is vehicle 2 and vehicle 2 is stationary, the current driving trajectory of vehicle 2 includes the current parking position of vehicle 2.

[0023] During the steering process of the own vehicle, the current driving trajectory of the own vehicle is compared with the current driving trajectory of the threat vehicle, and the starting position where the own vehicle and the threat vehicle may collide is determined as the target dangerous position, so as to identify the potential collision risk in the driving route of the own vehicle and the position of the threat vehicle that needs attention in advance, thereby improving driving safety.

[0024] S102, when it is determined that the target dangerous position is located in the target road section, determining a required adjustment angle of the rearview mirror based on the target dangerous position; Among them, the target road section is the route section corresponding to when the threatening vehicle is in the blind spot of the own vehicle during the turning process of the own vehicle, that is, the route section corresponding to when the threatening vehicle is outside the human eye field and rearview mirror field of view of the driver of the own vehicle in the driving trajectory of the own vehicle.

[0025] The required adjustment angle is used to enable the adjusted rearview mirror to display the threatening vehicle when the own vehicle drives to the target dangerous position.

[0026] In addition, when determining the required adjustment angle of the rearview mirror based on the target dangerous position, the required adjustment angle of the rearview mirror that can display the threatening vehicle can be determined based on the target dangerous position, that is, the rearview mirror with the required adjustment angle is the rearview mirror corresponding to the threatening vehicle. Figure 2 As shown, when the own vehicle 1 turns left, it can be displayed that the rearview mirror of vehicle 2 is the right rearview mirror, that is, the rearview mirror that needs to be adjusted is the right rearview mirror. At this time, it is necessary to determine the required adjustment angle of the right rearview mirror; when the own vehicle 1 turns right, it can be displayed that the rearview mirror of vehicle 4 is the left rearview mirror. At this time, it is necessary to determine the required adjustment angle of the left rearview mirror; when the own vehicle 1 turns around, it can be displayed that the rearview mirror of vehicle 3 is the right rearview mirror. At this time, it is necessary to determine the required adjustment angle of the right rearview mirror.

[0027] When the target dangerous position is in the target road section, that is, when the target dangerous position is in the route section where the threatening vehicle is not visible in the driver's field of vision and the rearview mirror, the required adjustment angle of the rearview mirror of the own vehicle is determined according to the target dangerous position, so that when the own vehicle drives to the target dangerous position, the rearview mirror can display the threatening vehicle, so that at the starting position where the own vehicle and the threatening vehicle may collide, the driver can see the threatening vehicle from the rearview mirror, so as to avoid the risk of collision with the threatening vehicle and improve driving safety.

[0028] S103, based on the required adjustment angle of the rearview mirror, controlling the adjustment angle of the rearview mirror.

[0029] According to the calculated required adjustment angle of the rearview mirror, the angle of the rearview mirror is adjusted when the own vehicle reaches the target dangerous position or before the own vehicle reaches the target position, so that the rearview mirror can display the threatening vehicle when the own vehicle is at the target dangerous position, so that during the turning process of the own vehicle, the threatening vehicle can be observed when there is a risk of collision and is in the blind spot, thereby reducing traffic accidents caused by blind spots.

[0030] For example, as an example, the angle of the rearview mirror before adjustment is 60 degrees, and the required adjustment angle is to increase by 10 degrees, so the angle of the rearview mirror is adjusted to 70 degrees.

[0031] In addition, optionally, after controlling and adjusting the angle of the rearview mirror, feedback from other sensors on the vehicle can be used to confirm whether the rearview mirror is correctly aimed at the area where the threatening vehicle is located, that is, whether the rearview mirror can display the threatening vehicle, and the rearview mirror can be fine-tuned when necessary based on the confirmation result.

[0032] According to the technical solution provided in the embodiment of the present application, it is possible to identify a threatening vehicle that may collide with the own vehicle during a turning process, and it is possible to identify a target dangerous position where the own vehicle and the threatening vehicle may collide, so that when the target dangerous position is in the route of the own vehicle's blind spot, the angle of the rearview mirror of the own vehicle can be adjusted according to the target dangerous position, so that when the own vehicle travels to the target dangerous position, the adjusted rearview mirror of the own vehicle can display the threatening vehicle, thereby realizing precise adjustment of the rearview mirror, providing the driver with an accurate field of view to observe the threatening vehicle, enhancing the driver's perception of the surrounding environment, improving driving safety, and preventing traffic accidents caused by blind spots.

[0033] In some embodiments, the current driving trajectory of the own vehicle during the turning process can be considered to be an arc with a turning radius as a radius. The current driving trajectory of the own vehicle when turning can be determined based on the turning radius of the own vehicle. Among them, the wheelbase of the own vehicle and the maximum steering angle of the front wheels can be obtained, and the turning radius of the own vehicle can be determined by the wheelbase of the own vehicle and the maximum steering angle of the front wheels, and then the driving trajectory during the turning process can be determined. In some examples, the current driving trajectory can be determined by the following formula: ; Where R represents the turning radius, L represents the wheelbase, and α represents the maximum steering angle of the front wheels.

[0034] In some embodiments, before determining that the target dangerous location is located in the target road section, the method further includes: Based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle, a first position and a second position are determined, wherein the first position is the position of the own vehicle when the threat vehicle disappears from the human eye field of the driver of the own vehicle; the second position is the position of the own vehicle when the threat vehicle begins to enter the field of view of the rearview mirror of the own vehicle; wherein during the turning process of the own vehicle, the relative position time sequence relationship between the threat vehicle and the own vehicle is: after the threat vehicle enters the human eye field of the driver of the own vehicle, it disappears from the human eye field of the driver of the own vehicle, and then enters the field of view of the rearview mirror of the own vehicle; A route segment between the first location and the second location is determined as a target route segment.

[0035] In some examples, such as Figure 3 As shown, the circle part represents the driver's eyes, and the human eye field of vision can be centered on the driver's eyes, symmetrical on the left and right, and within a range of 60 degrees on each side. This field of vision is the clear field of vision of a single eye without turning the eyeball and neck in the horizontal direction.

[0036] In other examples, the rearview mirror field of view can be as follows: Figure 4 As shown, when the current angle of the rearview mirror is α, at the rear of the vehicle, that is, about 4m (meters) away from the rearview mirror, the rearview mirror field of view can observe objects within 1m of the vehicle's lateral distance. At a distance of about 20m from the rearview mirror, since the rearview mirror field of view will be blocked, it can be regarded as a triangular area of ​​the rearview mirror field of view. When exceeding the above range, the rearview mirror field of view is a rectangular area with a width of about 4m. The sum of the triangular area and the rectangular area is the rearview mirror field of view.

[0037] In addition, in some examples, such as Figure 2 and Figure 5 As shown, assuming that the vehicle itself is Figure 2 If the threatening vehicle is vehicle 1 in the vehicle and turns left, the relative position time sequence relationship between the threatening vehicle and the threatening vehicle during the turning process of the ego vehicle can be determined as follows: the ego vehicle starts to turn from the third position, and then the first intersection O1 of the threatening vehicle body first enters the driver's human eye field of view, and then as the ego vehicle turns, from the first position, the second intersection O2 of the threatening vehicle body disappears from the driver's human eye field of view, and then as the ego vehicle turns, from the second position, the threatening vehicle enters the corresponding rearview mirror field of view of the ego vehicle, and then continues to drive to complete the turning operation. In this turning process, from the time when the threatening vehicle enters the human eye field of the driver of the ego vehicle to the first position, the threatening vehicle is always within the human eye field of the driver, and from the first position to the second position, the threatening vehicle is always outside the human eye field of the driver and the rearview mirror field of view, that is, the threatening vehicle is always within the blind spot of the ego vehicle, and from the second position, the threatening vehicle begins to enter the rearview mirror field of view of the ego vehicle again.

[0038] Based on the above, when determining the first position and the second position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threatening vehicle, the position of the own vehicle when the threatening vehicle disappears from the human eye field of the driver of the own vehicle can be determined as the first position; the position of the own vehicle when the threatening vehicle begins to enter the field of view of the rearview mirror of the own vehicle is determined as the second position. And the route segment between the first position and the second position is determined as the target segment, that is, the route segment that the threatening vehicle passes through after disappearing from the human eye field of the driver and reappearing in the field of view of the rearview mirror is determined as the target segment. By determining the target segment, it can help the driver and the own vehicle determine the areas that need special attention and improve driving safety.

[0039] In addition, continue to Figure 2 and Figure 5 For example, assuming that vehicle 2 is stationary, that is, the current driving trajectory of the threatening vehicle is the parking position of the threatening vehicle, the first intersection O1 and the second intersection O2 with the body of the threatening vehicle when the driver's human eye field angle is 60 degrees can be obtained through laser radar, infrared sensor, etc. In addition, the current road information can be obtained, including road width, curve angle, lane line position, own vehicle position, and vehicle model or body size information of the threatening vehicle; since the threatening vehicle is stationary, the current road determines the turning radius of the own vehicle when turning left, that is, determines the driving trajectory of the own vehicle. Combined with the speed at the time of turning and the body size of the threatening vehicle, the first position of the own vehicle when the extension line of the driver's human eye field angle of 60 degrees and the right edge of the body of the threatening vehicle have the second intersection O2 can be calibrated.

[0040] That is, the body size of the threatening vehicle is known, and it is assumed that the threatening vehicle will collide with the own vehicle if it moves straight after starting. The field of view angle of the rearview mirror of the own vehicle is α, the dotted line part of the turning of the own vehicle is the current driving trajectory of the own vehicle, and the dotted line part of the straight line is the future driving trajectory after the threatening vehicle starts. It can be calibrated that the human eye field angle of the driver of the own vehicle is 60 degrees, and the position of the own vehicle when the extension line of the human eye field intersects with the second intersection point O2 of the right edge of the body of the threatening vehicle is determined as the first position, that is, when the threatening vehicle disappears at the critical point of the human eye field of the driver, the position of the own vehicle is determined as the first position. Similarly, using the calibration method as described above, the second position when the threatening vehicle is about to enter the field of view of the right rearview mirror of the own vehicle is obtained, that is, the position of the own vehicle when the left edge of the body of the threatening vehicle intersects with the rearview mirror field of view.

[0041] According to the technical solution provided in the embodiment of the present application, by determining the first position and the second position of the own vehicle, the target road section on which the own vehicle is traveling when the threatening vehicle is in the blind spot of the own vehicle's field of vision can be accurately determined, thereby providing early warning of possible dangerous situations and reducing the occurrence of traffic accidents.

[0042] In some embodiments, determining a required adjustment angle of a rearview mirror based on a target hazardous location includes: Determine a third position of the host vehicle when the steering operation is initiated; Determining a target required angle of the rearview mirror based on an arc length between the third position and the target dangerous position and a turning radius of the own vehicle; Based on a target desired angle of the rearview mirror and a current angle of the rearview mirror, a desired adjustment angle of the rearview mirror is determined.

[0043] Among them, when determining the third position when the own vehicle starts the steering operation, the position where the own vehicle starts the steering operation can be determined according to the steering angle sensor of the own vehicle and determined as the third position, or the third position can be determined by the navigation of the own vehicle. The third position can provide an accurate starting point for adjusting the rearview mirror angle.

[0044] For some examples, see Figure 5 , the threatening vehicle has a width d, the body point close to the own vehicle is d1, and the body point far from the own vehicle is d2. When the own vehicle and the extension line of point d1 intersect, the position of the own vehicle is the starting position where the own vehicle may collide with the threatening vehicle, which means that the own vehicle enters the danger zone (that is, the area where the threatening vehicle may collide if it starts at a certain speed); that is, when the own vehicle drives to the target danger position, it enters the danger zone. At this time, since the target danger position is between the first position and the second position, the threatening vehicle is out of the field of view of the own vehicle at the target danger position; if the critical point d1 of the threatening vehicle body is to enter the field of view, the rearview mirror needs to be adjusted at an angle △α Figure 5 shown.

[0045] Determining the required adjustment angle of the rearview mirror can enable the rearview mirror to cover the threatening vehicle when the own vehicle drives to the target dangerous position, so that the adjustment of the rearview mirror can be synchronized with the steering action of the own vehicle, thereby increasing the observation time of the threatening vehicle.

[0046] In the specific calculation process, the target required angle β of the rearview mirror can be determined by the arc length between the third position and the target dangerous position and the turning radius of the own vehicle. Then, the difference between the target required angle β of the rearview mirror and the current angle of the rearview mirror can be determined as the required adjustment angle △α. In this way, the angle of the rearview mirror can be accurately adjusted, so that the driver of the own vehicle can observe the threatening vehicle when there is a risk of collision during the steering process, thereby improving driving safety.

[0047] The turning of the target vehicle includes turning left, turning right and turning around.

[0048] In some examples, such as Figure 6, which is a geometric diagram for determining the target required angle of the rearview mirror when the own vehicle turns left or right. The circle represents the rearview mirror of the own vehicle, the reference numeral 61 represents that the own vehicle is in the third position, the reference numeral 62 represents that the own vehicle is in the target dangerous position, and the turning radius of the own vehicle is R. It indicates the angle at which the threatening vehicle can be displayed in the rearview mirror field of view when the own vehicle is at the target dangerous position, that is, the target required angle. Point O indicates the center point of the circle corresponding to the arc length between the third position and the target dangerous position. It can be seen that point O, the third position 61 and the target dangerous position 62 form an isosceles triangle with a waist length of R.

[0049] Combination Figure 6 , when the target vehicle turns left or right, the arc length and turning radius can be combined to determine the required adjustment angle of the rearview mirror of the own vehicle through geometric relationship. The formula is as follows: ; in, Used to indicate the required adjustment angle of the rearview mirror of the own vehicle. Used to indicate the target angle required by the own vehicle's rearview mirror, Used to indicate the current angle of the vehicle's rearview mirror, that is, the angle before adjustment. Used to indicate the angle corresponding to the arc length between the third position and the target hazardous position.

[0050] in, The conversion can be performed by the arc length between the third position and the target dangerous position and the turning radius of the own vehicle, as shown in the following formula: ; Among them, L is used to represent the arc length between the third position and the target dangerous position, and R is used to represent the turning radius of the own vehicle.

[0051] also, Figure 7 It is a geometric diagram for determining the target angle required for the rearview mirror during the vehicle's U-turn, such as Figure 7 As shown, during the process of the own vehicle turning around, point 71 indicates that the own vehicle is at the third position, point 72 indicates that the own vehicle is at the target dangerous position, and the turning radius of the own vehicle is R. It represents the target required angle of the rearview mirror of the own vehicle, and point O represents the center point of the circle corresponding to the arc length between the third position and the target dangerous position. It can be seen that point O, point 1 and point 2 form an isosceles triangle with a waist length of R.

[0052] Combination Figure 7 , in the process of the target vehicle turning, the arc length and turning radius are combined to determine the target angle that the rearview mirror of the own vehicle needs to be adjusted to through the geometric relationship. The formula for determining the target angle is as follows: ; in, Used to indicate the required adjustment angle of the rearview mirror of the own vehicle. Used to indicate the target angle required by the own vehicle's rearview mirror, Used to indicate the current angle of the vehicle's rearview mirror, that is, the angle before adjustment. Used to indicate the angle corresponding to the arc length between the third position and the target hazardous position.

[0053] Optionally, when determining the required adjustment angle of the rearview mirror based on the target dangerous position, the fourth position when the threatening vehicle first appears in the field of view of the own vehicle may also be determined, and the target required angle of the rearview mirror may be determined based on the arc length between the fourth position and the target dangerous position and the turning radius of the own vehicle. The specific determination process may refer to the process of determining the target required angle of the rearview mirror based on the arc length between the third position and the target dangerous position and the turning radius of the own vehicle, and will not be described in detail here.

[0054] In addition, optionally, when determining the required adjustment angle of the rearview mirror based on the target dangerous position, the rearview mirror field of view can also be gradually adjusted according to a preset angle gradient when the distance from the target dangerous position is preset, and the angle at which the rearview mirror field of view can display the threatening vehicle when the own vehicle drives to the target dangerous position is determined as the required adjustment angle of the rearview mirror.

[0055] According to the technical solution provided in the embodiment of the present application, the target required angle of the rearview mirror is determined based on the arc length between the third position and the target dangerous position and the turning radius of the own vehicle, and then the required adjustment angle of the rearview mirror is determined. This achieves the ability to predict the required adjustment angle of the rearview mirror in advance before reaching the target dangerous position, and to ensure the accuracy of the required adjustment angle, so that threatening vehicles in the blind spot can be better observed during the turning process of the own vehicle, thereby reducing traffic accidents caused by blind spots.

[0056] In some embodiments, based on the required adjustment angle of the rearview mirror, controlling the adjustment angle of the rearview mirror includes: If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is less than the maximum adjustable angle of the rearview mirror, when the vehicle drives to the target dangerous position, the rearview mirror is controlled to adjust to the required adjustment angle to display the threatening vehicle; If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is greater than or equal to the maximum adjustable angle of the rearview mirror, the rearview mirror is controlled to be adjusted to the maximum adjustable angle.

[0057] Among them, the required adjustment angle of the rearview mirror is added to the current angle of the rearview mirror to determine the sum. If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is less than the maximum adjustable angle of the rearview mirror, it means that the rearview mirror supports adjustment of the determined required adjustment angle based on the current angle. In this case, when the vehicle drives to the target dangerous position, the rearview mirror can be directly controlled to adjust according to the required adjustment angle to display the threatening vehicle.

[0058] In addition, if the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is greater than or equal to the maximum adjustable angle of the rearview mirror, it means that the mechanical structure of the rearview mirror is not sufficient to support the adjustment of the required adjustment angle based on the current angle. In order to observe the threatening vehicle in the shortest time, the rearview mirror can be controlled to be adjusted to the maximum adjustable angle to ensure that the adjustment of the rearview mirror does not exceed its mechanical limitations, and to provide the best possible field of view, thereby avoiding equipment damage or functional failure due to excessive adjustment.

[0059] Optionally, the current driving trajectory of the threatening vehicle includes the current driving trajectory corresponding to the stationary state and the moving state. If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is greater than or equal to the maximum adjustable angle of the rearview mirror, and when the own vehicle drives to the second position, the angle of the rearview mirror is not adjusted according to the required adjustment angle, the current driving trajectory of the threatening vehicle is monitored in real time. If it is monitored that the distance between the own vehicle and the threatening vehicle is greater than the preset distance, and / or the threatening vehicle is in a stationary state, as the own vehicle drives, the required adjustment angle is updated according to the relative position and distance between the own vehicle and the threatening vehicle, until the sum of the updated required adjustment angle and the current angle of the rearview mirror is less than or equal to the maximum adjustable angle of the rearview mirror, the current angle of the rearview mirror is adjusted according to the updated required adjustment angle to ensure that small vehicles such as motorcycles and electric vehicles around the own vehicle are observed as much as possible during driving on the target road section, and to prevent the problem of mechanical damage caused by the rearview mirror exceeding the adjustment range.

[0060] In addition, optionally, the real-time angle of the rearview mirror and the relative position and distance of the threat vehicle to the own vehicle can be continuously monitored during the driving process of the own vehicle, so as to dynamically adjust the angle of the rearview mirror according to the dynamic changes of the threat vehicle and the turning situation of the own vehicle, so as to keep the threat vehicle within the field of view of the vehicle, thereby improving the adaptability and flexibility of the rearview mirror adjustment.

[0061] According to the technical solution provided in the embodiment of the present application, by adjusting the angle of the rearview mirror so that the rearview mirror can display threatening vehicles, traffic accidents caused by blind spots in vision are reduced. At the same time, the adjustment range of the rearview mirror is limited to not exceed its maximum adjustable angle, thereby protecting the rearview mirror equipment and avoiding equipment damage caused by improper operation. The rearview mirror angle can also be dynamically adjusted according to actual conditions to adapt to different driving environments and threatening situations, thereby improving practicality and reliability.

[0062] In some embodiments, when the vehicle drives to the target dangerous position, after controlling the rearview mirror to adjust the required adjustment angle to display the threatening vehicle, the method further includes: If it is detected that the own vehicle continues to drive until the body outline of the threatening vehicle is displayed in the rearview mirror and the steering of the own vehicle has not been completed, the rearview mirror is adjusted to the maximum adjustable angle; After the rearview mirror is adjusted to the maximum adjustable angle, it also includes: If it is detected that the steering of the vehicle has been completed, the rearview mirror is controlled to return to the current angle before the angle adjustment.

[0063] Among them, after controlling the rearview mirror to adjust the required adjustment angle to display the threatening vehicle, the steering status and progress of the own vehicle can be monitored. If the own vehicle continues to drive until the rearview mirror displays the body outline of the threatening vehicle and the steering action of the own vehicle has not been completed, the rearview mirror can be adjusted to the maximum adjustable angle to prevent small vehicles such as motorcycles and electric vehicles from passing by the threatening vehicle in the blind spot before the steering of the own vehicle is completed. This allows the own vehicle to monitor a wider area during the steering process, so as to help the driver better monitor the surrounding environment during a complex steering process and prevent possible collision risks.

[0064] Among them, the method of monitoring the steering state and progress of the own vehicle can be determined based on the steering wheel angle, or it can be based on the global satellite positioning system to monitor the posture and route of the own vehicle to determine the steering state and progress of the own vehicle.

[0065] In addition, when it is detected that the turning of the own vehicle is completed, the rearview mirror of the own vehicle is controlled to return to the current angle before the angle adjustment, so as to provide the driver of the own vehicle with the best field of view when driving straight, and the rearview mirror can quickly return to a state suitable for straight driving after the turning is completed, thereby improving driving comfort and safety.

[0066] According to the technical solution provided in the embodiment of the present application, the adjustment of the rearview mirror can be effectively controlled when the vehicle travels to the target dangerous position to ensure that the driver can monitor the threatening vehicle and restore the rearview mirror to an angle suitable for straight driving after the turn is completed, thereby reducing the driver's operating burden and improving driving comfort.

[0067] In some embodiments, before determining the target dangerous position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threatening vehicle, the method further includes: When the average traffic volume within a preset range of the road where the vehicle is located is greater than or equal to a preset threshold, the follow-up steering function of the rearview mirror is controlled to be turned on; or When there is a threatening vehicle in the field of vision of the own vehicle, the follow-up steering function of the rearview mirror is controlled to turn on.

[0068] Before determining the target dangerous position, the average traffic flow within a preset range of the road where the own vehicle is located can be determined, and it can be judged whether there is a threatening vehicle within the field of view of the own vehicle.

[0069] When the average traffic flow within a preset range of the road where the own vehicle is located is greater than or equal to a preset threshold, the follow-up steering function of the rearview mirror is controlled to be turned on; or when there is a threatening vehicle within the field of view of the own vehicle, the follow-up steering function of the rearview mirror is controlled to be turned on.

[0070] When determining the average traffic flow within a preset range of the road where the vehicle is located, the traffic flow of the current road condition can be evaluated when the vehicle is driving on the road condition, and the average traffic flow can be obtained by comprehensively calculating the basic traffic flow, peak hour traffic flow and average daily traffic flow. The basic traffic flow, peak hour traffic flow and average daily traffic flow data can be obtained through a road monitoring system or an intelligent traffic monitoring system.

[0071] Optionally, the basic traffic volume may be a ratio of the number of passing vehicles to the passing time, that is, the number of vehicles passing a certain road section within a certain period of time; The peak hour traffic volume can be the product of the 24-hour traffic volume and the peak hour coefficient for each forecast year, that is, , where Q g Used to represent peak hour traffic flow, A g It is used to represent the peak hour coefficient, and Q is used to represent the 24-hour traffic flow in each forecast year; Average daily traffic volume , where Q r is used to represent the average daily traffic volume, Q is used to represent the 24-hour traffic volume in each forecast year, and A r Used to represent the daytime traffic coefficient, R is the number of daytime hours; Average traffic volume: , where Q j Used to represent average traffic volume.

[0072] To determine whether there is a threatening vehicle within the field of view of the own vehicle, refer to the above Figure 2 The corresponding description will not be repeated here.

[0073] According to the technical solution provided in the embodiment of the present application, it is possible to determine whether to turn on the follow-up steering function of the rearview mirror based on the real-time traffic conditions around the vehicle itself, adapt to different driving environments, and not turn on the follow-up steering function of the rearview mirror if the conditions are not met, thereby avoiding unnecessary energy consumption and making the process of driving the vehicle itself more comfortable and convenient.

[0074] In some embodiments, after determining the required adjustment angle of the rearview mirror based on the target hazardous position, the method further includes: If it is detected that the speed of the threatening vehicle is greater than the speed of the own vehicle and the speed difference is greater than or equal to the preset speed threshold, or the sum of the current angle of the rearview mirror and the required adjustment angle is greater than the maximum adjustable angle of the rearview mirror, a first prompt message is issued, and the first prompt message is used to prompt the driver to stop and wait for passing; If it is detected that the vehicle has not yet reached the target dangerous position and the distance between the vehicle and the target dangerous position is greater than or equal to the preset distance, a second prompt message is issued, and the second prompt message is used to prompt the driver to stop and wait for passing or slow down.

[0075] In some examples, after determining the required adjustment angle of the rearview mirror, the speed of the own vehicle and the speed of the threatening vehicle are monitored in real time. If the speed of the threatening vehicle is greater than the speed of the own vehicle, and the difference between the speed of the threatening vehicle and the speed of the own vehicle is greater than or equal to a preset speed threshold, or the sum of the current angle of the rearview mirror of the own vehicle and the required adjustment angle is greater than the maximum adjustable angle of the rearview mirror, a first prompt message is issued. The first prompt message can be used to prompt the driver to stop and wait for right of way, or slow down and give way, thereby avoiding potential collision risks caused by excessive speed or rearview mirror adjustment, thereby improving driving safety.

[0076] The above judgment may be performed to issue the first prompt information when there is a threatening vehicle at the intersection and the threatening vehicle is in motion.

[0077] In addition, the current driving trajectory of the threatening vehicle may change from a stationary state to a moving state. In this case, the threatening vehicle is monitored in real time and the real-time position of the own vehicle is obtained. When the real-time position of the own vehicle has not reached the target dangerous position and the distance between the own vehicle and the target dangerous position is greater than or equal to the preset distance, a second prompt message is issued. The second prompt message is used to prompt the driver of the own vehicle of the change in the current motion trajectory of the threatening vehicle, and to judge whether the own vehicle needs to stop and wait for way or slow down, thereby giving the driver more reaction time and reducing traffic accidents caused by distance judgment errors.

[0078] According to the technical solution provided in the embodiment of the present application, through real-time monitoring and judgment, the first prompt information and the second prompt information of stopping and waiting for the right of way or slowing down can be promptly issued to the driver to prevent traffic accidents and ensure driving safety. The prompt information can also be dynamically adjusted according to the speed, position and rearview mirror adjustment limit of the own vehicle and the threatening vehicle to improve the adaptability and accuracy of the system.

[0079] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0080] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0081] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0082] Figure 8 Schematic diagram of a rearview mirror adjustment device provided in an embodiment of the present application. Figure 8 As shown, the rearview mirror adjustment device includes: a first processing module 801, a second processing module 802, and a control module 803, wherein: The first processing module 801 is configured to determine a target dangerous position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle during the steering process of the own vehicle, wherein the threat vehicle is a vehicle that is partially in the visual blind spot of the own vehicle during the steering process of the own vehicle and may collide with the own vehicle; the target dangerous position is a starting position where the own vehicle and the threat vehicle may collide; The second processing module 802 is configured to determine the required adjustment angle of the rearview mirror based on the target dangerous position when it is determined that the target dangerous position is in the target dangerous position, wherein the target road section is a route section corresponding to when the threatening vehicle is in the blind spot of the own vehicle during the turning process, and the required adjustment angle is used to enable the rearview mirror to display the threatening vehicle after adjustment when the own vehicle travels to the target dangerous position; The control module 803 is configured to control the adjustment angle of the rearview mirror based on the required adjustment angle of the rearview mirror.

[0083] In some embodiments, the second processing module 802 is further configured to determine a first position and a second position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle, wherein the first position is the position of the own vehicle when the threat vehicle disappears from the human eye field of the driver of the own vehicle; the second position is the position of the own vehicle when the threat vehicle begins to enter the field of view of the rearview mirror of the own vehicle; wherein during the turning process of the own vehicle, the relative position time sequence relationship between the threat vehicle and the own vehicle is: after the threat vehicle enters the human eye field of the driver of the own vehicle, it disappears from the human eye field of the driver of the own vehicle, and then enters the field of view of the rearview mirror of the own vehicle; the route segment between the first position and the second position is determined as the target segment.

[0084] In some embodiments, the second processing module 802 is configured to: determine the third position when the own vehicle starts the steering operation; determine the target required angle of the rearview mirror based on the arc length between the third position and the target dangerous position and the turning radius of the own vehicle; determine the required adjustment angle of the rearview mirror based on the target required angle of the rearview mirror and the current angle of the rearview mirror.

[0085] In some embodiments, the control module 803 is configured as follows: if the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is less than the maximum adjustable angle of the rearview mirror, when the own vehicle drives to the target dangerous position, the rearview mirror is controlled to adjust the required adjustment angle to display the threatening vehicle; if the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is greater than or equal to the maximum adjustable angle of the rearview mirror, the rearview mirror is controlled to be adjusted to the maximum adjustable angle.

[0086] In some embodiments, the control module 803 is further configured to: when the own vehicle drives to the target dangerous position, after controlling the rearview mirror to adjust the required adjustment angle to display the threatening vehicle, if it is detected that the own vehicle continues to drive until the rearview mirror displays the body outline of the threatening vehicle and the steering of the own vehicle has not ended, adjust the rearview mirror to the maximum adjustable angle; After the rearview mirror is adjusted to the maximum adjustable angle, if it is detected that the steering of the vehicle has been completed, the rearview mirror is controlled to return to the current angle before the angle adjustment.

[0087] In some embodiments, the first processing module 801 is further configured to: control the activation of the follow-up steering function of the rearview mirror when the average traffic flow within a preset range of the road where the own vehicle is located is greater than or equal to a preset threshold; or control the activation of the follow-up steering function of the rearview mirror when there is a threatening vehicle within the field of view of the own vehicle.

[0088] In some embodiments, the second processing module 802 is further configured as follows: if it is detected that the speed of the threatening vehicle is greater than the speed of the own vehicle and the speed difference is greater than or equal to a preset speed threshold, or the sum of the current angle of the rearview mirror and the required adjustment angle is greater than the maximum adjustable angle of the rearview mirror, a first prompt message is issued, and the first prompt message is used to prompt the driver to stop and wait for way; if it is detected that the own vehicle has not yet reached the target dangerous position, and the distance between the own vehicle and the target dangerous position is greater than or equal to the preset distance, a second prompt message is issued, and the second prompt message is used to prompt the driver to stop and wait for way or slow down.

[0089] Fig. 9 Schematic diagram of an electronic device 9 provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 9 of this embodiment includes: a processor 901, a memory 902, and a computer program 903 stored in the memory 902 and executable on the processor 901. When the processor 901 executes the computer program 903, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 901 executes the computer program 903, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0090] The electronic device 9 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 9 may include, but is not limited to, a processor 901 and a memory 902. Those skilled in the art will appreciate that Fig. 9 The electronic device 9 is merely an example and does not limit the electronic device 9 , and may include more or less components than those shown in the figure, or different components.

[0091] The processor 901 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0092] The memory 902 may be an internal storage unit of the electronic device 9, for example, a hard disk or memory of the electronic device 9. The memory 902 may also be an external storage device of the electronic device 9, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 9. The memory 902 may also include both an internal storage unit of the electronic device 9 and an external storage device. The memory 902 is used to store computer programs and other programs and data required by the electronic device.

[0093] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0094] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (such as a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0095] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for adjusting a rearview mirror, characterized in that: include: During the steering process of the own vehicle, a target dangerous position is determined based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle, wherein the threat vehicle is a vehicle that is partially present in the blind spot of the own vehicle during the steering process and may collide with the own vehicle; the target dangerous position is a starting position where the own vehicle and the threat vehicle may collide; In the case where it is determined that the target dangerous position is in a target road section, the required adjustment angle of the rearview mirror is determined based on the target dangerous position, wherein the target road section is a route section corresponding to when the threatening vehicle is in a blind spot of the field of vision of the own vehicle during the turning process of the own vehicle, and the required adjustment angle is used to enable the rearview mirror to display the threatening vehicle after adjustment when the own vehicle travels to the target dangerous position; Based on the required adjustment angle of the rearview mirror, the angle of the rearview mirror is controlled to be adjusted.

2. The method according to claim 1, characterized in that Determining that the target dangerous position is before the target road section also includes: Based on the current driving trajectory of the own vehicle and the current driving trajectory of the threat vehicle, a first position and a second position are determined, wherein the first position is the position of the own vehicle when the threat vehicle disappears from the human eye field of the driver of the own vehicle; the second position is the position of the own vehicle when the threat vehicle begins to enter the field of view of the rearview mirror of the own vehicle; wherein during the turning process of the own vehicle, the relative position time sequence relationship between the threat vehicle and the own vehicle is: after the threat vehicle enters the human eye field of the driver of the own vehicle, it disappears from the human eye field of the driver of the own vehicle, and then enters the field of view of the rearview mirror of the own vehicle; A route segment between the first location and the second location is determined as the target route segment.

3. The method according to claim 1, characterized in that Determining a required adjustment angle of the rearview mirror based on the target hazardous position includes: determining a third position of the host vehicle when a steering operation is initiated; Determining a target required angle of the rearview mirror based on an arc length between the third position and the target dangerous position and a turning radius of the own vehicle; Based on a target desired angle of the rearview mirror and a current angle of the rearview mirror, a desired adjustment angle of the rearview mirror is determined.

4. The method according to claim 1, characterized in that: Based on the required adjustment angle of the rearview mirror, controlling and adjusting the angle of the rearview mirror comprises: If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is less than the maximum adjustable angle of the rearview mirror, when the own vehicle drives to the target dangerous position, the rearview mirror is controlled to adjust the required adjustment angle to display the threatening vehicle; If the sum of the required adjustment angle of the rearview mirror and the current angle of the rearview mirror is greater than or equal to the maximum adjustable angle of the rearview mirror, the rearview mirror is controlled to be adjusted to the maximum adjustable angle.

5. The method according to claim 4, characterized in that When the vehicle drives to the target dangerous position, after controlling the rearview mirror to adjust the required adjustment angle to display the threatening vehicle, the method further includes: If it is detected that the own vehicle continues to travel until the body outline of the threatening vehicle is displayed on the rearview mirror and the steering of the own vehicle has not been completed, adjusting the rearview mirror to the maximum adjustable angle; After controlling the rearview mirror to be adjusted to the maximum adjustable angle, the method further includes: If it is detected that the steering of the own vehicle is completed, the rearview mirror is controlled to return to the current angle before the angle adjustment.

6. The method according to claim 1, characterized in that Before determining the target dangerous position based on the current driving trajectory of the own vehicle and the current driving trajectory of the threatening vehicle, the method further includes: When the average traffic volume within the preset range of the road where the vehicle is located is greater than or equal to a preset threshold, controlling the follow-up steering function of the rearview mirror to be turned on; or When the threatening vehicle exists within the field of vision of the own vehicle, the follow-up steering function of the rearview mirror is controlled to be turned on.

7. The method according to claim 1, characterized in that After determining the required adjustment angle of the rearview mirror based on the target dangerous position, the method further includes: If it is detected that the speed of the threatening vehicle is greater than the speed of the own vehicle and the speed difference is greater than or equal to a preset speed threshold, or the sum of the current angle of the rearview mirror and the required adjustment angle is greater than the maximum adjustable angle of the rearview mirror, a first prompt message is issued, wherein the first prompt message is used to prompt the driver to stop and wait for the driver to give way; If it is detected that the own vehicle has not driven to the target dangerous position, and the distance between the own vehicle and the target dangerous position is greater than or equal to the preset distance, a second prompt message is issued, and the second prompt message is used to prompt the driver to stop and wait for passing or slow down.

8. A rearview mirror adjustment device, characterized in that: include: The first processing module is configured to determine a target dangerous position based on a current driving trajectory of the own vehicle and a current driving trajectory of a threat vehicle during a turning process of the own vehicle, wherein the threat vehicle is a vehicle that is partially present in a blind spot of the own vehicle during the turning process of the own vehicle and may collide with the own vehicle; the target dangerous position is a starting position where the own vehicle and the threat vehicle may collide; The second processing module is configured to determine the required adjustment angle of the rearview mirror based on the target dangerous position when it is determined that the target dangerous position is in a target dangerous position, wherein the target road section is a route section corresponding to when the threatening vehicle is in a blind spot of the field of vision of the own vehicle during the turning process of the own vehicle, and the required adjustment angle is used to enable the rearview mirror to display the threatening vehicle after adjustment when the own vehicle travels to the target dangerous position; The control module is configured to control the adjustment of the angle of the rearview mirror based on the required adjustment angle of the rearview mirror.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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